Dong Luc Hoc Cong Trinh 1566

NG LC HC CNG TRNH
PGS. TS Dng Vn Th
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CHNG 1: DAO NG CA H C MT BC T DO
1.1 MT S KHI NIM C BN V L THUYT DAO NG

1.1.1 Khi nim v chu k v tn s
Dao ng ca vt thun ty do lc l xo sinh

ra khi M dch chuyn khi v tr cn bng ban
u (do mt nguyn nhn bt k no gy
ra ri mt i) c gi l dao ng t do hay
l dao ng ring.
Dng chuyn v ca vt M c gi l dng dao ng
ring. Nu trong qu trnh dao ng lun lun tn ti lc
ng P(t), ta c bi ton dao ng cng bc. Lc ng
P(t) cn c gi l lc kch thch.
K
0
P(t)
Hnh 1.1
Tu thuc vo quan h gia lc l xo v bin dng ca l xo l tuyn

tnh , hay phi tuyn, m ta c bi ton dao ng tuyn tnh hay dao ng
phi tuyn.
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S cc dao ng ton phn ca khi lng thc hin trong

mt n v thi gian, ch ph thuc vo cc c trng c
hc ca h, gi l tn s dao ng ring hay tn s dao
ng t do, v c k hiu l f.
Thi gian thc hin mt dao ng ton phn c gi l
chu k dao ng, v c k hiu l T.
Nu T o bng giy (s) (trong ng lc hc cng trnh thi
gian thng c o bng giy), th th nguyn ca f l
1/s. V tr s f v T l nghch o ca nhau.
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1.1.2 Dao ng iu ho v vc t quay
Sau y ta xt mt dng dao ng quan trng c gi l dao

ng iu ha. y l dng dao ng c bn thng gp trong
c hc, mt khc, cc dao ng c chu k lun lun c th phn
tch thnh cc dng dao ng iu ha n gin.
Xt dao ng iu ha,
S (t ) A sin t
(1-1)
C vn tc
v(t ) A cos t
(1-2)
v gia tc
a (t ) A 2 sin t
(1-3)
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1.1.2 Dao ng iu ho v vc t quay
C th miu t chuyn ng ny nh
chuyn dch ca im mt vc t OA (c
ln bng A) ln mt trc S no khi
vc t ny quay quanh im c nh O
vi vn tc gc .(xem hnh 1.2).
Tr s A c gi l bin dao ng,
cn vn tc gc c gi l tn s
vng ca dao ng l s dao ng ton
phn ca h thc hin trong 2 giy.
r
a
Acost
0
T 2
nn
Asin
t
r
v
A
s
Hnh 1.2
Theo nh ngha,
2 1
do
2 f
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Tm li, trong dao ng iu ha ta c cc quan h sau,
2 f
T
1
f
T 2
1 2
T
f
(1-4)
(1-5)
(1-6)
Sau ny trong tnh ton thc t, ngi ta hay dng hn f.

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Kho st ba dao ng iu ha cng bin A v chu k T

T
T
t0=
4
t 0
0
s
T
A
S (t ) Asin t-
2
0A
A
s
a)
t
b)
S (t ) Asin( t)
s
c)
T
2
S (t ) Asin t-
t0
Hnh 1.3
Ta ni t0 l lch pha,
cn l gc lch pha (hay gc pha).
dao ng (a) c gc pha l /2.
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Cch biu din dao ng iu ha di dng vc t quay nh trn

hnh 1.2, gip ta thc hin thun tin vic hp cc dao ng iu
ha. V d, xt hp ca hai dao ng iu ha cng tn s (c th
khc bin v lch pha).
S1 (t ) A1 sin t
(a)
S2 (t ) A2 sin t
(b)
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Hp ca hai dao ng S1 v S2 chnh l hp ca hai vc t OA1 v
OA2 cho ta vc t OA c ln , theo qui tc hnh bnh hnh, l
OA A
v gc lch pha , m:
A1 A2cos A2 sin
2
A2 sin
tg
A1 A2cos
(1-7)
(1-8)
Nh vy, hp ca hai dao ng iu ha cng tn s l mt dao

ng iu ha cng tn s, c bin A c tnh theo (1-7) v gc
lch pha c tnh theo (1-8)
S (t ) S1 (t ) S2 (t ) Asin t+
(c)
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nu hai dao ng thnh phn khc tn s, th hp ca chng
khng cn l dao ng iu ha na, m ch l dao ng c chu k
A
A2
A2 sin
A1
A2 cos
Hnh 1.4
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1.1.3 Lc cn v cc m hnh lc cn
Lc cn do nhiu nguyn nhn gy ra nh : ma st gia cc mt tip

xc m ta gi l lc cn ma st; sc cn ca mi trng nh khng
kh, cht lng hay lc ni ma st m ta gi chung l lc cn nht.
Trong chuyn ng c hc, ngi ta thng chia lc cn thnh ba
nhm chnh:
1-
Lc cn ma st c xc nh theo nh lut Culong
Rc C1.N
(1-9)
Trong : C1 l h s ma st,
N l thnh phn php tuyn ca lc sinh ra
gia hai mt tip xc khi chuyn ng (n ph
thuc vo vn tc chuyn ng)
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2 - Lc cn nht tuyn tnh Newton t l bc nht vi vn tc

chuyn ng
Rc C2 .v
Trong :
(1-10)
C2 l h s cn nht
l vn tc chuyn ng, = (t)

3- Lc cn t l bc cao vi vn tc (thng l bc hai). Lc
cn ny thng xy ra khi vt chuyn ng trong mi trng
cht lng hay cht kh vi vn tc tng i ln
Rc C3 .v
(1-11)
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1.2 PT VI PHN DAO NG NGANG TNG QUT CA H 1 BC T DO
H mt bc t do gm dm n hi gi thit khng c khi lng, trn c t
khi lng tp trung M, chu tc dng ca ti trng ng P(t) t ti khi lng
v c phng theo phng chuyn ng ca khi lng
P(t)
1
a)
y(t)
yt M
Rh
P(t)
z
b)
P(t)
y(t)
y
P=1
c)
P(t)
z
M hnh tnh
Hnh 1.6
d)
f)
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Do y ta ch xt nh hng ca lc ng P(t), ng thi

do gi thit bin dng b, nn trng thi cn bng tnh ban
u c th coi gn ng nh trng hp cha c bin dng
(Hnh 1.6b). Tt nhin, khi xc nh mt i lng nghin
cu no , ta phi k ti gi tr do M gy ra theo nguyn
l cng tc dng.
Xt h dao ng chu lc cn nht tuyn tnh Newton, th
dao ng ca h trn hnh 1.6b c th c m hnh ha
nh trn hnh 1.6d; gm khi lng M c treo vo l xo
c cng K , v gn vo pt tng chuyn ng trong cht
lng nht c h s cn C.
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Xt h thi im t no ang chuyn ng hng xung

cng chiu vi lc P(t). Khi h chu tc dng ca cc lc
sau: lc ng P(t); lc n hi sinh ra trong l xo ph thuc
dch chuyn y ca khi lng, Rh(y) = K.y(t), c chiu
hng ln; lc qun tnh Z(t) = -M (t) c chiu hng xung
cng chiu vi chuyn ng; v lc cn nht tuyn tnh Rc =
C (t) c chiu hng ln ngc vi chiu chuyn ng (xem
hnh 1.6f). H trng thi cn bng ng, nn:
Rh + Rc Z(t) P(t) = 0
hay
(1-12)
&(t ) Cy&(t ) Ky (t ) P(t )

My&
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Rh + Rc Z(t) P(t) = 0
hay
(1-12)
&(t ) Cy&(t ) Ky (t ) P(t )

My&
Phng trnh (1-12) l phng trnh vi phn (PTVP) dao ng

ngang tng qut ca h n hi tuyn tnh mt bc t do chu
lc cn nht tuyn tnh.
Trong ,
C l h s cn c th nguyn l [ lc thi gian / chiu di];
K l cng ca h, l gi tr lc t tnh ti khi lng lm
cho khi lng dch chuyn mt lng bng n v, v c th
nguyn l [lc / chiu di ].
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Phng trnh (1-12) cng c th c thit lp da vo biu
thc chuyn v. Tht vy, nu k hiu l chuyn v n v
theo phng chuyn ng ti ni t khi lng (hnh 1.6c)
cn gi l mm ca h mt bc t do- th dch chuyn y(t)
ca khi lng ti thi im t do tt c cc lc tc dng trn
h gy ra, theo nguyn l cng tc dng s l:
&(t ) Cy&(t )
y (t ) P (t ) My&
Hay
Trong
&(t ) Cy&(t ) Ky (t ) P (t )
My&
chnh l (1-12)
(1-13)
c gi l cng ca h.
Gii (1-12) xc nh c phng trnh chuyn ng, vn tc, v gia tc
chuyn ng ca khi lng -> xc nh c cc i lng nghin cu
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1.3 DAO NG T DO-TN S DAO NG T DO

( HAY TN S DAO NG RING )
1.3.1 Dao ng t do khng c lc cn
y l trng hp l tng ha, v trong thc t lc cn lun tn

ti. PTVP dao ng lc ny c dng n gin [cho C v P(t) trong
(1-12) bng khng].
&(t ) Ky (t ) 0
My&
Hay l
Trong
&
y&(t ) 2 y (t ) 0
K
1
g
g

(M )
M M G yt
2
(1-14)
(1-15)
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y, ta k hiu G = yt(M) , v mt ngha, n l chuyn v
tnh ca khi lng M do trng lng ca khi lng, G , t
tnh theo phng chuyn ng gy ra (xem hnh 1.6a); cn g
l gia tc trng trng. Phng trnh vi phn (1-14) c
nghim tng qut l:
y (t ) A1cos t+A 2 sin t
(a)
Cc hng s tch phn A1v A2 c xc nh t cc iu kin u:

Ti thi im bt u dao ng (t=0), gi s h c chuyn v ban
u yo v vn tc ban u 0
y t 0 y0 ;
v t 0 v0
(1-16)
Thay (1-16) vo (a) vi ch v(t ) y&(t ) A1 sin t A2 cos t ta c:

A1 = y0 ;
A2 = 0
(b)
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Thay (b) vo (a) ta c phng trnh dao ng t do khng c lc

cn ca h mt bc t do:
v0
y (t ) y0cos t+ sin t
Hay
v0
y (t ) y0 sin t+ + sin t
2
(1-17)
(1-17)
iu ny c ngha l, dao ng t do khng cn ca khi

lng l hp ca hai dao ng iu ha cng tn s v lch
pha /2. S dng khi nim vc t quay, theo (1-7) v (1-8) ,
phng trnh (1-17) c dng n gin:
y (t ) Asin t+
Trong
v
y 0

2
0
(1-18)
y0
arctg
v0
(1-19)
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Nh vy, dao ng t do ca h mt bc t do (BTD), khi
khng c lc cn, l mt dao ng iu ha, c tn s c
tnh theo (1-15) , c bin v gc lch pha c tnh theo
(1-19), cn chu k dao ng c tnh theo (1-6).
Nhn vo (1-15) ta thy ch ph thuc yt(M), cng tc l ph

thuc hay K, ngha l ch ph thuc vo n hi ca h.
Nn tn s dao ng t do cn c gi l tn s dao ng
ring ca h; N l mt c trng ca h dao ng.
Dao ng t do khng cn c dng nh trn hnh 1-3; Ph thuc
iu kin ban u m c dng (hnh 1.3a, b, hay c). V d, khi khng
c chuyn v ban u (y0 = 0), th = 0, nn dng dao ng nh
trn hnh 1.3b; Khi khng c vn tc ban u (0 = 0), th gc pha
bng /2, dng dao ng nh trn hnh 1.3a; Cn dng dao ng
trn hnh 1.3c tng ng vi khi c y0 v 0 u khc khng.
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Nh vy, dao ng t do ca h mt bc t do (BTD), khi
khng c lc cn, l mt dao ng iu ha, c tn s c
tnh theo (1-15) , c bin v gc lch pha c tnh theo
(1-19), cn chu k dao ng c tnh theo (1-6).
Nhn vo (1-15) ta thy ch ph thuc yt(M), cng tc l ph

thuc hay K, ngha l ch ph thuc vo n hi ca h.
Nn tn s dao ng t do cn c gi l tn s dao ng
ring ca h; N l mt c trng ca h dao ng.
Dao ng t do khng cn c dng nh trn hnh 1-3; Ph thuc
iu kin ban u m c dng (hnh 1.3a, b, hay c). V d, khi khng
c chuyn v ban u (y0 = 0), th = 0, nn dng dao ng nh
trn hnh 1.3b; Khi khng c vn tc ban u (0 = 0), th gc pha
bng /2, dng dao ng nh trn hnh 1.3a; Cn dng dao ng
trn hnh 1.3c tng ng vi khi c y0 v 0 u khc khng.
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Ch : Khi khi lng c lin kt bng nhiu l xo mc

song song hay ni tip nh trn hnh 1.7, khi cng tng
cng c tnh nh sau:
K1
K2
K1
K2
K1
K2
M
P(t)
P(t)
P(t)
k ki
i
k ki sin 2 i
i
1
1
k
i ki
(1-20)
Hnh 1.7
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V D 1.1
Trn dm n gin hai u khp, t ti C mt khi lng tp
trung M c trng lng G = 0,75 kN nh trn hnh 1.8a;
Bit E = 2,1.104 kN/cm2;
C
4
10
J
cm 4 ;
12
a)
G=Mg
l=1m.
b)
Yu cu: Xc nh tn s vng v chu

k dao ng ring ca h. B qua khi
lng dm, v ly g = 981 cm/s2.
c)
P=1
P=1
Hnh 1.8
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Gii:
Chuyn v n v tai C, theo phng chuyn ng, do lc P=1
gy ra, theo cng thc Maxwell Mohr l (xem hnh 1.8b):
1
EJ
3
1 2 3
3m3
3 1
m m m
16
2 3 16
256 EJ
4 4
(a)
Chuyn v tnh ti ni t khi lng do trng lng ca khi lng gy ra:

(M )
t
3m3
2, 25kNm3
G.
0, 75kN
256 EJ
256 EJ
(b)
Tn s dao ng ring ca h , theo (1-15) l:

256 2,1104 4 4
1
981
70,
6
s
2, 25 12 1003
Chu k dao ng ring tnh theo (1-6) l:

2 2 3,1416
T
0, 089 s
70, 6
(c)
(d)
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V D 1.2
Trn khung ba khp c t vt nng trng lng G (hnh
1.9a). B qua nh hng ca khi lng khung, lc ct , v
lc dc ti din dng. Hy xc nh tn s dao ng ring
theo phng ng v phng ngang ca h.
G
h
(EJ=hng s)
(hnh 1.9a).
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Gii:
Chuyn v n v theo phng ng g, v phng ngang ng ti ni
t khi lng c tnh theo cng thc Maxwell Mohr. T cc biu
m men n v trn hnh 1.9b, v c, ta c:
g
ng
l3
l l 1 2 l 1
2
4
2
2
3
4
EJ
48 EJ
(a)
h.l 2 1
h 3 h 2l
h.h 2
h l
2 3 EJ
3EJ
2 3
(b)
P=1
l
Thay (a) v (b) vo (1-15) ta c

tn s dao ng ring theo
phng ng v phng ngang l
g =
g
48EJg 1
G
Gl 3 s
ng =
g
3EJg 1
G ng
G h 3 h 2l s
P=1
Hnh 1.9b, 1.9c

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1.3.2 Dao ng t do c lc cn
Khi coi lc cn t l vi vn tc, PTVP dao ng t do tng
qut c dng:
&(t ) Cy&(t ) Ky (t ) 0
My&
(1-21)
&
y&(t ) 2 y&(t ) 2 y (t ) 0
Hay
y ta t
c
M
(1-21)
(1-22)
cng c gi l h s cn
Phng trnh c trng ca PTVP (1-21) c nghim l
1,2 2 2
y (t ) A1e1t A2e2 t
nn nghim tng qut ca (1-21):
y (t ) e
Ae
1
2 2 t
(a)
Ae
2 2 t
s c dng:
(1-23)
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y(t)
Chuyn ng ca khi lng, theo (1-23),

ph thuc vo h s .
Phn tch tng trng hp ta thy:
1- Khi 2 2; hay C 2 KM
0
Hnh 1.10
Khi > ta gi l lc cn ln; cn khi = ta gi l lc cn trung bnh

(hay lc cn gii hn). Lc ny l mt s thc; Hn na, v nn
2 2 < , (bng khng khi = ). Do c hai nghim tnh theo (a)
u m. Nh vy, chuyn ng ca khi lng khi lc cn ln v trung
bnh , theo (1-23), l tng ca hai hm s m m. H khng giao ng
m chuyn ng tim cn dn ti v tr cn bng nh trn hnh 1.10;
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2- Khi 2 < 2:
Trng hp ny c gi l lc cn b. Lc ny nghim l phc.
t
12 2 2
(1-24)
Khi nghim ca phng trnh c trng (xem (a ) s l:
1,2 i1
(b)
V phng trnh chuyn ng (1-23) tr thnh:
y (t ) e t A1ei1t A2e i2t

S dng cng thc Euller
ei cos i sin
e i cos i sin
(1-23)
(1-25)
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thay vo (1-23) ta c:
y (t ) e t A1 A2 cos 1t i A1 A2 sin 1t
hay l,
Trong ,
y (t ) e t B1 cos 1t B2 sin 1t
B1 = A1 + A2 ;
B2 = i ( A1 A2 )
(1-23)
(c)
Cc hng s B1, B2 xc nh c t cc iu kin u (1-16)

B1 = y0 ;
B2 = ( v0 + y0 ) / 1
(d)
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Thay (d) vo (1-23), v li p dng khi nim vc t quay hp hai

dao ng iu ha trong du mc vung, ta c phng trnh dao
ng t do ca h mt bc t do khi lc cn b l:
y (t ) Ae t sin(1t )
(1-26)
Trong ,
v 0 y 0
A y
1
y 0 1
arctg(
)
v 0 y 0
2
0
(1-27)
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Dng dao ng trong trng hp ny c th hin trn hnh 1.11

y(t)
yn+1
0
A
yn
T1
Hnh 1.11 : Dao ng t do khi lc cn b

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T (1-26), hay t hnh 1-11 ta thy, dao ng t do ca h mt bc t

do khi lc cn b, cng l mt dao ng iu ha c tn s vng 1
tnh theo (1-24), v chu k T1 tnh theo (1-28)
T1 =
2
1 =
2

2
(1-28)
song bin dao ng gim dn theo lut hm s m m : Ae
-t
nghin cu tt dn ca dao ng, ta xt t s gia hai bin

dao ng lin k nhau (cch nhau mt chu k T1). K hiu bin t
c ti thi im t no l An, cn ti thi im ( t + T1) l A n+1,
th t (1-26) ta c:
An
Ae t sin 1t
e t
t T1
t T1 eT1 = hng s
An 1 Ae
sin1 t T1 e
Suy ra,
T1 = ln ( A n
n 1
)=
(1-29)
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Nh vy, t s gia hai bin lin k nhau l mt hng s; Cn

logarit t nhin ca t s ny, k hiu l , l mt i lng ph thuc
vo h s cn v ng nhin l c 1 ca h, dng nh gi
tt dn ca dao ng , ngi ta gi l h s cn logarit, hay l
Dekremen logrit ca dao ng t do c cn b
H s cn logarit ng vai tr quan trng trong thc t. N gip xc
nh h s cn nh th nghim o bin dao ng An v A n+1. Sau
y l mt s kt qu th nghim tm c cho mt s loi kt cu xy
dng.
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1, i vi cc kt cu thp
T1 = (0,016 0,08)2 0,1 0,15
2, i vi kt cu g
T1 = (0,005 0,022)2 0,03 0,15
3, i vi cc kt cu b tng ct thp
T1 = (0,016 0,032)2 0,08 0,2
3, i vi cc kt cu b tng ct thp
T1 = (0,016 0,032)2 0,08 0,2
4, i vi cu thp
T1 = (0,01 0,15 ); trung bnh 0,28
5, Vi cu b tng ct thp:
T1 = 0,31
6, Vi dm b tng ct thp:
T1 = (0,17 0,39 ); trung bnh 0,28
7, Vi khung b tng ct thp: T1 = (0,08 0,16 ); trung bnh 0,12

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So snh hai phng trnh dao ng t do khng cn (1-18) v c cn
b (1-26) ta thy, tn s ring khi c cn b 1< khi khng c cn,
cn chu k T1 > T; C ngha l, khi c cn b, dao ng chm hn so
vi khng c lc cn. Tuy nhin, s sai khc ny cng rt nh. Do
trong xy dng, do ch yu l cn b, ngi ta thng coi gn ng
1 , v T1 T trong tnh ton
Xt mt trng hp dao ng tt kh nhanh
V d,
An / A n+1 = 0,5.
Khi
= ln(A n/A n+1) = ln0,5 = 0,693.
= 0,693 / T1
1 =
2 2 =
= 0,6931 / 2 = 0,111
2 0,111
suy ra,
hay
= 0,994 .
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Tr li trng hp lc cn trung bnh (cn gii hn) 2 = 2. Lc ny,

2
= T = .
= 2;
An
Do : A
n 1
= e T = e 2 = 529.
Ngha l bin dao ng sau mt chu k gim i 529 ln, hay ni

cch khc, khi h chu lc cn trung bnh, h gn nh khng dao
ng m ch chuyn ng tim cn dn ti v tr cn bng ban u.
iu ny nht qun vi kt lun c cp ti mc a.
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1.4 DAO NG CNG BC CHU LC KCH THCH IU
HO P(t)=P0sinrt - H S NG
Phng trnh vi phn dao ng tng qut trong trng hp ny, theo
(1-12) s l:
Hay l
&(t ) Cy&(t ) Ky (t ) P0 s inrt

My&
(1-30)
P0
&
y&(t ) 2 y&(t ) y (t ) s inrt
M
(1-30)
Trong ,
P0 v r ln lt l bin v tn s ca lc kch thch;
v nh k hiu trc y.
y l PTVP bc hai tuyn tnh chun c v phi l mt hm iu
ha. Nghim tng qut ca (1-30) bng nghim tng qut ca PTVP
thun nht k hiu l y0(t), cng vi mt nghim ring k hiu l y1(t).
y(t) = y0(t) + y1(t)
(a)
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1.4.1
Xt trng hp lc cn b:
Nghim y0(t) tnh theo (1-26), cn nghim ring y1(t) c th xc nh

bng nhiu cch, v d phng php bin thin hng s
Lagrange.Song thun tin hn, y ta gii bng phng php na
ngc nh sau
Gi thit nghim ring di dng tng qut sau
y1(t) = A1sinrt + A2cosrt
y1(t) = A0 sin(rt - )
(1-31)
Hay l
Trong r l tn s lc kch thch bit, cn A0 v l bin v
gc lch pha cha bit. R rng l nu ta tm c mt A0, v mt
(1-31) tha mn phng trnh (1-30), th (1-31) l mt nghim
ring ca (1-30). Tht vy, thay y1(t) v cc o hm ca n
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Nghim y0(t) tnh theo (1-26), cn nghim ring y1(t) c th xc nh

bng nhiu cch, v d phng php bin thin hng s
Lagrange.Song thun tin hn, y ta gii bng phng php na
ngc nh sau
y&1 (t ) rA0 cos(rt- )
2
&
y&
(
t
)
r
A0 sin(rt )
1
(b)
vo phng trnh (1-30) ta c,
P0
r A0 sin(rt ) 2 rA0cos(rt- )+ A0 sin( rt ) s inrt
M
2
(c)
Khai trin sin(rt-) v cos(rt-), ri nhm cc s hng c cha sinrt

v cosrt ta c:
P
sinrt -r 2 A0cos +2 rA 0 sin 2 A0 cos - 0 cosrt r 2 A0 sin 2 rA0cos - 2 A0 sin 0

M
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Biu thc (d) phi bng khng vi mi t ty ; Mun vy, cc biu
thc h s ca sinrt v cosrt phi bng khng. T suy ra:
A0 =
P0
M 2 r 2 cos 2r sin
tg =
2r
2 r 2
(1-32)
(1-32)
Thay (1-32) v (1-32) vo (1-31) ta c nghim ring y 1(t); Ri li thay

(1-26) v (1-31) vo (a) ta c nghim tng qut ca PTVP dao
ng (1-30) l:
y (t ) A sin(1t ) A0 sin(rt )
(1-33)
Trong :
A, tnh theo (1-27) cha cc iu kin u y0 v 0.

A0, tnh theo (1-32) cha bin P0 v tn s r ca
lc kch thch iu ha.
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Phn tch (1-33) ta thy:

S hng th nht lin quan ti dao ng t do ca h. Trong thc t
lun lun tn ti lc cn. Nhng cho d lc cn l b, th phn dao
ng t do ny, sm hay mun, cng s mt i sau mt khong thi
gian no . Dao ng ca h lc ny c coi l n nh, v
c biu din bng s hng th hai trong (1-33)
y (t ) y1 (t ) A0 sin(rt )
(1-34)
Nh vy, dao ng cng bc - lc cn b - ca h mt bc t do

chu lc kch thch iu ha P0 sin rt, khi n nh, l mt dao ng
iu ha c cng tn s v chu k vi tn s v chu k ca lc kch
thch, cn bin A0 v gc pha c tnh theo (1-32).
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Bin dao ng A0 cng thng c biu din dng khc tin
li hn nh sau:
T (1-32) ta c,
2r = [(2 r2)sin]/ cos, ri thay vo (1-32) c:

A0 = P0 cos / M(2-r2)
Thay tnh theo (1-32) vo (f ) vi ch :

v
Cos(artg) =
Ta c,
P0
A0 =
M 2 r 2
A0 =
1
2
(g)
hay
M =
(f )
P0
2r
2 r 2
M 2 r 2 4r 2 2
P0
M r
2
P0
r 2 2r
r2
r2
4r 2 2
1 2

4
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K hiu: .P0 yt( P0 ) l chuyn v tnh ti ni t khi lng do lc c
tr s bng bin lc ng P0 t tnh ti gy ra, v
1
K =
Th ta c
r
4r
2
4
2
A0 yt( P0 ) .K
(1-35)
(1-32)
iu ny c ngha l, khi h chu tc dng ca ti trng ng iu ha

P0sinrt, th bin chuyn v ng A0 ln gp K ln so vi chuyn v
khi P0 t tnh gy ra. K c gi l h s ng.
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1.4.2 Xt trng hp khi khng c lc cn
H s ng trong trng hp ny c dng n gin hn (cho = 0
trong cng thc 1-35)
K =
1
r2
1 2

(1-36)
Kt qu ny cng c th tm c nh gii trc tip PTVP dao

ng cng bc khng c lc cn. Sinh vin c th t thc hin
iu ny.
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1.4.3 Phn tch h s ng Hin tng cng hng
Nhn vo cng thc (1-35) v (1-36) ta thy, h s ng ph thuc
vo t s r/.
a) Xt trng hp khng c lc cn:
th quan h gia h s ng v t s r/ v c nh trn hnh
(1.12a) vi ch l h s ng ch ly gi tr dng
Ta thy rng,
Khi t s
r
0 th
r
th
r 1 th
K 1
K 0
K
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Khi r<, K dng, ngha l dao ng ca khi lng v lc kch
thch cng pha.
Khi r , K tng ln rt ln, bin dao ng tng rt nhanh. Hin
tng ny c gi l hin tng cng hng. Trong thc t, khi t
s r/ nm trong khong t 0,75 n 1,25 , K rt ln. Vng nh
vy c gi l vng cng hng ( vng gch cho trn hnh 1.12).
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4
3
2
1
=0
0,2
0,5
0,3
0,4
0,6
1
0
0
0,5 0,75 1 1,2 1,5 1,7
5
5
a) Khng lc cn
=1
0,5
1,5
b) Lc cn b
r
Hnh 1.12: Quan h gia K v
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b) Xt trng hp lc cn b:
Trong trng hp ny, K khng nhng ph thuc t s r/, m cn
ph thuc vo h s cn . Trn hnh 1.12b cho ta cc ng cong
quan h ny ng vi cc h s cn khc nhau, v thy rng:
b1- H s cn cng ln th K cng nh; Thm ch khi
K
KM
C 2
,
cng tc l
(1-37)
2M
h s K lun lun nh hn mt. Trng hp ring khi h s cn ly
du bng trong cng thc (1-37) c gi l h s cn l tng; v
c ngha quan trng khi ch to cc thit b o dao ng.
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b2- Khc vi trng hp khng cn, khi c lc cn, h s ng c
gi tr ln nht khng phi khi r/ bng mt, m khi t s ny nh hn
mt. Tht vy, kho st biu thc K theo t s r/, t (1-35) hay (135) ta c K t cc tr khi :
dK
r
d

= 0 suy ra
r
2
c2
1 2 2 1
<1
2 2
2M
(1-37)
Tuy nhin s sai khc ny l nh, nn thc t vn coi gn ng K t

gi tr ln nht khi r/ 1
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1.5 H MT BC T DO CHU TI TRNG KCH NG

HM NG LC V TCH PHN DUHAMEL
K hiu P0 l gi tr ln nht m ti trng t c, f(t) l hm biu
din lut bin i ca ti trng theo thi gian, cn gi l hm cht ti.
Khi c th biu din ti trng kch ng di dng tng qut nh
sau (hnh 1.13).
P(t)
P(t) = P0f(t)
P0
f(t)
PTVP dao ng tng qut c dng:
&(t ) Ky (t ) P0 f (t )
My&
y&(t ) 2 y (t )
hay &
P0
f (t )
M
(1-39)
t
(1-39)
0
Hnh 1.13: Ti trng kch ngng
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C th gii phng trnh ny bng nhiu cch. y ta gii theo cch

h dn bc o hm bng cc php bin i tng ng nh sau
Trc ht nhn hai v ca (1-39) vi sint, cng v tr vo v tri hm
y&(t )cos( t)
ta c:
P0
&os t y sin t yc
&os t f (t ) sin t
y&sin t yc
&
M
2
Hay
P
d
d
y&sin t ycos t 0 f (t ) sin t
dt
dt
M
Tch phn hai v ca (a) theo cn t t0 ti t ta c:

t
t
t
P
y&sin t0 ycos t0 0 f ( )sin d
M
t0
(a)
(b)
Trong l mt thi im no trong khong t t0 ti t (do cn

tch phn l t nn bin tch phn phi l )
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S dng iu kin u
y ( ) t y0
0
, y&( ) t v0
0
th phng trnh (b) tr thnh:

t
y&sin t v0 sin t0 ycos t+y 0cos t 0

t0
P0
f ( )sin( ) d
M
Tip theo, ta li thc hin cc php tnh theo ng th t nh trn

nhng nhn hai v ca (1-39) vi cost; Sau cng v tr vo v tri
hm , ri tch phn hai v vi cn t t0 ti t, v s dng iu kin u
(c); Ta li c mt biu thc c dng tng t (1-40)
t
&ost v0 cost0 y sin t-y 0 sin t 0

yc
t0
P0
f ( )cos( ) d
M
(1-40)
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By gi ta li nhn hai v ca (1-40) vi cost, v vi (1-40) l sint;

ri tr hai phng trnh cho nhau, vi ch cc quan h lng gic:
sin(a-b) = sina cosb - cosa sinb

Ta c
cos(a-b) = cosa cosb + sina sinb

t
y (t ) v0 sin (t t0 ) y0cos (t-t 0 )

t0
Suy ra
Hay
(d)
P
v
y (t ) 0 sin (t t0 ) y0cos (t-t 0 ) 0
M

v
y (t ) y0cos (t-t 0 ) 0 sin (t t0 ) ytP0

P0
f ( ) sin (t ) d
M
f ( ) sin (t )d
t0
f ( )sin (t ) d
t0
(1-41)
Trong , y ( P0 ) P l chuyn v tnh ca khi lng do lc c tr s

t
0
bng P0 t tnh gy ra.
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(1-41) l nghim tng qut ca PTVP (1-39), c cha tch phn

t
K (t ) f ( ) sin (t ) d
(1-42)
t0
c gi l tch phn Duhamel.

Nu iu kin u y0 =0, v v0 =0; th phng trnh chuyn
ng ch cn li s hng th ba trong (1-41).
y (t ) yt( P0 ) K (t )
(1-43)
Ch : Li gii (1-41), hay (1-43) l li gii tng qut khng nhng

cho trng hp ti trng kch ng nh trnh by trn, m cho ti
trng ng bt k c th biu din c dng (1-38).
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Hm K(t) ng vai tr nh hng ca tc dng ng, n l hm ca

thi gian, c gi l hm nhn t ng hay l hm ng lc. Gi tr
ln nht ca K(t) chnh l h s ng. Trong thc t tnh ton, ta cn
xc nh gi tr ln nht ny.
Sau y ta xt mt s dng ti trng kch ng thng gp, vi gi
thit ban u h trng thi tnh, ngha l y0 = 0, v v0 = 0. Lc ny
phng trnh chuyn ng ca h l (1-43).
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1) Lc khng i tc ng t ngt vo khi lng.

th hm cht ti nh trn hnh 1.14a;
Lc ny c:
P = P0
f(t) = 1 (t 0)
Nn,
(a)
K(t) = sin(t-) d
= 1 cost
(b)
th hm K(t) ny nh trn hnh 1.14b, v ta c
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t1
2
2- Ti trng kch ng dng ch nht (nh trn hnh 1.15a)

Khi 0 t t1, c P = P0, v f(t) = 1; nn theo
ta c:
K(t) = 1 cost
Khi t1 t ,
(b)
(c1)
c P = 0 , v f(t) = 0; nn theo (1-42) ta c:

t1
t
K(t) =2sin( ) sin(t- 1 )
2
2
(c2)
Trong t1 l thi gian cht ti.

k(t)
P(t)
P
t
0
a)
t1
Dng cht ti
max k(t)
0
b)
t1
4t1 5t1
Bin i ca K(t) ng
vi cc t1 khc nhau
0,2 0,4 0,6 0,8

c) Quan h gia K vi
Hnh 1.15
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Trong trng hp ny, s bin i ca hm ng lc , cng nh gi
tr ln nht ca n (K) ph thuc t1. S bin i ca K(t) theo thi
gian, ng vi cc t1 khc nhau, c th hin trn hnh 1-15b; Cn
quan h gia maxK(t) = K vi t s c th hin trn hnh 1.15c.
R rng l, khi t1 cng ln, trng hp ny s tr v trng hp (1).
T
V trong thc t, khi t1
2
l c th coi nh trng hp (1)
xem hnh 1.5c; Lc ny K 2. Cn t1 cng ln th tn s cng ln.

y, T l chu k dao ng t do.
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3- Ti trng tng tuyn tnh ri sau khng i (nh trn hnh
1.16a.)
Khi 0 t t1, c
P = P 0(
Thay vo (1-42) ta c
t
t
); Cn f(t) = ;
t1
t1
hm ng lc trong trng hp ny l:
t sint
t
T
K(t) = =
(
)sint
2
t
1
t 1 t 1
t1
Khi t1 t,
P = P 0;
(d1)
Cn f(t) = 1;
Nn trong trng hp ny
K(t) = 1 + ( T )[sin(t-t1) sint]
Trong , T=
2 t1
(d2)
l chu k dao ng t do.

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th bin i ca K(t) theo thi gian, ng vi cc t1 khc nhau, nh

trn hnh 1.16b; Cn quan h gia maxK(t) = K vi t s
t1
nh trn
T
hnh 1.16c. Ta thy, khi t1 cng nh (t1 0) , n tin dn ti trng hp

(1): K 2.
k(t)
P(t)
P
t
t1
a)
max k(t)
t1
2t1
3t1 4t1
b)
0
1
c)
Hnh 1.16
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4 - Ti trng kch ng dng tam gic (nh trn hnh 1.17a.)
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S bin i ca K(t) ng vi cc t1 khc nhau nh trn hnh 1.7b; Cn

quan h gia maxK(t) = K vi t1 nh trn hnh 1.17c. V ta thy K
T
lun lun nh hn hai.

k(t)
2
P(t)
P
t
0
a)
max k(t)
t1
0
b)
t1
2t1
3t1 4t1
1
0
1
c)
Hnh 1.17
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Mt s nhn xt quan trng.

a, Khi chu tc dng ca ti trng kch ng, h s ng c gi tr nh
hn , hoc bng hai.
b, Khi thi gian cht ti kch ng t1 l nh so vi chu k dao ng
ring, ta c th gii gn ng bi ton vi gi thit: khi lng ch bt
u chuyn ng sau thi gian t1. Nh vy, da vo nguyn l ng
lng ta c:
J P (t )dt Mv0
0
Suy ra v0
J
M
Ngha l, c th thay bi ton h chu ti kch ng c t1 nh, bng bi

ton h chuyn ng c vn tc ban u v0 gii n gin hn nhiu. Li
gii loi bi ton ny c th tm thy trong cc ti liu.
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Chng 2:
DAO NG CA H C NHIU BC T DO
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Chng 2: DAO NG CA H C NHIU BC T DO

2.1 KHI NIM BAN U
Nh trnh by chng 1; h mt BTD c c trng
bng mt dng dao ng ring vi tn s . Tng t
nh vy, dao ng t do ca h nhiu bc t do cng
c c trng bng cc tn s dao ng ring, v ng
vi mi tn s ring h c mt dng dao ng ring tng
ng. Hay ni cch khc nh sau ny s chng minh, h c
bao nhiu bc t do s c by nhiu tn s dao ng
ring, v trong cc iu kin nht nh, ta c th lm cho
tt c cc khi lng ti mt thi im no - ch thc
hin dao ng tng ng vi mt tn s no trong s
cc tn s ring. Nhng dng dao ng nh vy c gi
l nhng dng dao ng ring chnh, hay dng dao ng
chun. Tt nhin dao ng t do ca h l tng hp ca
tt c cc dng dao ng ring ny.
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2.1 PHNG TRNH VI PHN DAO NG NGANG TNG
QUT CA H C n BC T DO
Xt h c n BTD, n khi lng tp trung M1,M2,...,Mn, nh
trn hnh 2.1(b qua khi lng kt cu). H dao ng di
tc dng ca h lc ng P1(t), P2(t), ...,Pn(t), trong trng
hp tng qut, gi thit t ti tt c cc khi lng, v c
phng theo phng chuyn ng. Trng hp c cc ti
trng khng t ti khi lng, th ta phi chuyn tng
ng v t ti khi lng
M
Hnh
2.1
P1(t P2(t
)
)
M
...
...
2
...
...
y1(t) y2(t)
Pn(t
)
M
yn(t)
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Khi dao ng, ti mi khi lng u chu tc dng ca cc

ngoi lc nh sau,
Ngai lc ng (nu c) Pk(t);
Lc qun tnh Zk(t) = - Mkk(t)
Lc cn Rk(t)
y, k l khi lng th k;( k = 1, 2, ,n); Cn lc n hi
Rh(t) khng phi l ngoi lc. Hp ca cc ngoi lc ny , k
hiu l Fk(t), th:
Fk (t ) Z k (t ) Rk (t ) Pk (t ) (a)
Gi s ti thi im t ang xt, khi lng th k chuyn ng hng

xung cng chiu vi lc P(t), th nh phn tch mc 1.2, biu
thc (a) c dng:
Fk (t ) M k &
y&
k (t ) Rk (t ) Pk (t )
(b)
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Di tc ng ca h lc ny, dm s thc hin dao ng . PTVP dao

ng ngang tng qut ca h cng c th thit lp c t iu kin
cn bng ng vit ti tng khi lng.
Rhk(t) Fk(t) = 0
(c)
( k = 1, 2, ,n)
Song trong trng hp ny, s dng biu thc chuyn v t ra thun
tin hn.
Chuyn v ca cc khi lng ti thi im no , gi s xt khi
lng th k,
yk(t) = k1 F1(t) + k2 F2(t) +..+ kn Fn(t)
(d)
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Cho k bin thin t ( k = 1, 2, , n); ta c h n PTVP chuyn ng
ca n khi lng ti thi im t l:
y1 (t ) 11 F1 (t ) 12 F2 (t ) .... 1n Fn (t )
y (t ) F (t ) F (t ) .... F (t )
2
21 1
22 2
2n n
................................................................
yn (t ) n1 F1 (t ) n 2 F2 (t ) .... nn Fn (t )
(f)
Hay dng ma trn,
y1 (t )
y (t )
2
....
yn (t )
11 12
21 22
.... ....
n1 n 2
.... 1n F1 (t )
.... 2 n F2 (t )
.... ....
....
.... nn Fn (t )
(f)
Trong , kj, (k, j = 1,2,,n) l chuyn v n v ti khi lng th k

do lc bng n v t ti khi lng th j gy ra.
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K hiu cc ma trn v cc vc t nh sau:
11 12
N ....21 ....22
n1 n 2
....
....
....
....
1n
2 n
....
nn
M1
; M
....
M2
.... ....
....
M n
C11 C12
C
C
C ....21 ....22
Cn1 Cn 2
.... C1n
.... C2 n
.... ....
.... Cnn
(2-1)
y&1 (t )
y&
P1 (t )
y1 (t )
&
1 (t )
y (t )
&
y&2 (t )
(
t
)
P2 (t )
2
y&
2
&
&
&
;
y
(
t
)
;
y
(
t
)
;
P
(
t
)
y (t )
( 2-2)
....
....
....
....
yn (t )
&
y&n (t )
y&
Pn (t )
n (t )
Trong ,
[N] l ma trn i xng, v c gi l ma trn mm ca h, gm c cc
phn t l cc chuyn v n v ti ni t cc khi lng , theo phng chuyn
ng.
[M] l ma trn khi lng , l ma trn ng cho. Cc phn t trn ng
cho chnh ln lt l cc khi lng tp trung t trn h.
[C] l ma trn cn. Vic xc nh cc phn t ca [C] kh phc tp..

Trong tnh ton thc t, ngi ta thng coi gn ng [C] t l vi ma
trn cng [K].
y&(t ) , ln lt l vc t chuyn v, vc t vn tc, v vc
y(t ) ; y&(t ) ; &
t gia tc chuyn ng ca h, m cc phn t ca n, ln lt l

chuyn v, vn tc, v gia tc chuyn ng ca cc khi lng
{P(t)} l vc t ngoi lc ng, c cc phn t l cc ngoi lc ng

tc dng ti cc khi lng..
Cn
Rc (t ) R1 (t )
R2 (t ) .... Rn (t ) C y&(t )
T
(2-3)
l vc t lc cn nht tuyn tnh (t l bc mt vi vn tc ).

Thay (b) kt hp vi (2-3) vo (f) v chuyn v, ta c:
y&(t ) N C y&(t ) E y (t ) N P (t )
N M &
y, [E] l ma trn n v cp n.
(f)
Nhn bn tri (f) vi
k11
k
21
.... k1n
k22 .... k2 n
1
K N .... .... .... ....
k
k
....
k
nn
n1 n 2
k12
(2-4)
ta c PTVP dao ng ngang tng qut ca h c n BTD , cn

nht tuyn tnh,di dng ma trn nh sau:
y&(t ) C y&(t ) K y (t ) P(t )

M &
(2-5)
Ma trn [K] i xng, v c gi l ma trn cng ca h.
y&(t )
y (t ) ; y&(t ) ; &
l cc vc t hm
2.3 DAO NG T DO CA H C n BC T DO PHNG

TRNH TN S
2.3.1 Tn s v phng trnh tn s
Khi nghin cu dao ng h mt bc t do ta thy rng, khi lc cn
b, tn s ring 1 ; Bi vy, i vi h nhiu bc t do, khi
nghin cu dao ng t do, ta quan tm ch yu ti trng hp gi
thit khng c lc cn.
Phng trnh vi phn dao ng t do lc ny c dng n gin:
y&(t ) K y (t ) 0
M &
(2-6)
Gi thit dao ng t do l iu ha, nn phng trnh dao ng t

do khng lc cn ca khi lng th k, cng nh (1-18), c dng:
v gia tc
yk (t ) Ak sin(t )
(2-7)
2
&
y&
(
t
)
Ak sin(t )
k
(2-8)
Trong , Ak l bin dao ng ca khi lng th k, v l tn

s v gc lch pha ca dao ng.
Thay (2-8) v (2-7) vo (2-6), ri khai trin vi (k = 1, 2,,n); v t
sin(t+) lm tha s chung, ta c:
M A K A sin(t ) 0
2
Do phi tn ti dao ng, sin(t+) 0;
nn,
K A M A K M A 0
2
(2-9)
Trong , {A} = {A1, A2, ,An}T l vc t ct cha cc bin dao

ng ca cc khi lng th nht, th hai, ..., th n, v c gi l
vc t bin dao ng t do ca h. Do phi tn ti dao ng,
ngha l {A} {0}. T suy ra nh thc
D K M 2 0
(2-10)
Hay dng khai trin:
11
1
k21
k12
22
M 2 2
....
k1n
....
k2n
....
....
....
....
kn1
kn 2
....
nn
n
(2-10)
Phng trnh tn s (2-10) cng c th biu din qua ma trn

mm. Mun vy, ta nhn bn tri hai v ca (2-9) vi [N]( ) c:
1
2
1
N
K
N
M
Hay
N
M
2

A 0
A 0
1
y, [E] l ma trn n v cp n, v k hiu: u 2
(2-9)
(2-11)
Th t (2-9) ta suy ra phng trnh tn s biu din qua ma trn mm:

D u E N M 0
Hay
D N M u E 0
(2-11)
hay dng khai trin:
M 111 u
D
M 1 21
M 212
M 2 22 u
....
....
M n1n
M n 2 n
....
M 1 n1
....
M 2 n 2
....
....
....
M n nn u
(2-11
Nh vy, phng trnh tn s c th biu din qua ma trn cng

hoc qua ma trn mm. Tuy nhin trong thc t, ngi ta hay dng
ma trn mm hn, v cc phn t ca n c xc nh d dng
hn nh cng thc tnh chuyn v Maxwell- Mohr quen thuc.
V D 2.1
Xc nh cc tn s dao ng ring ca dm cho trn hnh 2-2a. Bit
dm c E J = hng s, M1 =M2 =M, khi tnh b qua khi lng dm.
Bi gii
Bi ton ny c hai BTD, nn phng trnh tn s l nh thc cp hai
sau:
11M1 u
21M1
12 M 2
22 M 2 u
(a)
Dm cho l siu tnh, cng thc Maxwell- Mohr tnh chuyn v l

(Xem gio trnh c hc kt cu)
ik = M i M 0k M i0 M k
(b)
y, biu m men n v c thm ch s 0 l trn h tnh nh

(ng vi trng thi gi to).
Cc biu m men n v v c nh
trn hnh 2-2b,c,d,e; Thc hin nhn cc
biu ta c:
23l 3
3l 3
11 22
;
12 21
(c)
1536 EJ
512 EJ
Thay (c) vo (a) v gii phng trnh bc
3
Ml
hai ny i vi u ta c: u1
48 EJ
suy ra 1
v
1
48 EJ
EJ
6,9282
u1
Ml 3
Ml 3
7 Ml 3
u2
768EJ
suy ra 2
1
109, 72 EJ
EJ
10,
4745
u2
Ml 3
Ml 3
Dng dao ng ng vi 1 c dng phn i xng (px) nh trn

hnh 2-2f; cn ng vi 2 l dng dao ng i xng (x) nh trn
hnh 2-2g.

2.2.3 Dng dao ng ring v tnh cht trc giao ca
cc dng dao ng ring.
A. Dng dao ng ring
Nu ta thay ln lt cc tn s dao ng ring 1, 2, ...., nvo
phng trnh (2-9), s xc nh c n vc t t s bin dao ng
k hiu l{a1}, {a2}, ....,{an} ng vi tng tn s ring. V d, ng vi tn
s ring th i ta c vc t bin dao ng {ai} c cc phn t k hiu
l (a1i, a2i, ....aki, ....ani); l bin dao ng ca cc khi lng th (1,
2, ...,k, ...,n) ng vi tn s ring i:
T
ai a1i a2i .... aki .... ani
(2-12)
Cc aki (k = 1, 2, , n) l nghim ca phng trnh (2-9) sau y,

([K]-[M]i2){ai} = {0}
(2-9)

Cn ch rng, y ta ch xc nh c dng ca cc dao ng
ring, hay ni cch khc, ch xc nh c t s (quan h) gia cc
bin dao ng ca cc khi lng ng vi mt tn s c th. S d
nh vy l v, (2-9) l phng trnh i s tuyn tnh thun nht, s c
v s nghim. Mun xc nh mt h nghim no , ta phi gi thit
trc mt bin aki no lm bin c s; Sau s gii nt (n-1) bin
cn li qua bin c s aki ny. R rng, khi cho bin c s cc tr khc
nhau ta s c cc vc t {ai} khc nhau. Tuy vy, t s gia cc
phn t trong vc t ny vi bin c s chn trc lun khng i.
Nu chn n c s ban u aki = 1, th cc t s ny chnh l cc phn
t trong vc t (2-12). Trong thc t, ngi ta thng chn n c s
ban u l
a1i = 1, khi vc t bin dao ng
T ng vi tn s
(2-12)
ai a1i 1 a2i .... aki .... ani
ring i s l:
aki (k = 2, 3, ...n) l nghim ca phng trnh (2-9) ng vi a 1i =1

Cc phn t ca vc t bin (2-12) cho ta dng dao ng ca h
ng vi tn s ring th i c gi l dng dao ng ring th i (hay
dng dao ng chnh th i). Nh vy, h c bao nhiu bc t do s c
by nhiu dng dao ng ring.
Nu ta t tt c cc vc t biu din cc dng dao ng ring vo
trong mt ma trn vung, k hiu l [A], th [A] c gi l ma trn cc
dng dao ng ring ca h.
A a1
a12 1
....
a1n 1
a21
....
an1
a22
....
an 2
....
....
....
a2 n
....
ann
a2 .... an
a11 1
(2-13)

B - Tnh cht trc giao gia cc dng dao ng ring
Cc dng dao ng ring ca h nhiu bc t do c tnh cht trc giao.
Tht vy, xt hai dng dao ng th i v th k. Thay i v k vo (2-9)
ri chuyn v, ta c:
Vi i c: K ai M i2 ai
(a)
2
Vi k c: K ak M k ak
(b)
Chuyn tr (a) v ch rng, [M]T = [M]; [K]T = [K] th (a) tr thnh,
ai K i2 ai M
T
(c)
Nhn bn phi vc t {ak} vo(c), nhn bn tri vc t {ai}T vo (b) ta

c:
T
T
ai K ak i2 ai M ak (c)
ai K ak
T
k2 ai
M ak (b)

Tr hai phng trnh cho
nhau:
V i k, ta suy ra:
(c) ' (b) ' i2 k2 ai
ai M ak
T
M ak 0
(2-14)
V mt ton hc, (2-14) l iu kin trc giao ca hai vc t {ai} v

{ak}, cng tc l ca hai dng dao ng ring th i v th k. y l
iu phi chng minh.
Thc hin php nhn ma trn, iu kin (2-14) c th vit dng
khai trin nh sau
M1
a1i
a2i
..... ani
....
M2
.... ....
a ji M j a jk 0 (2-14)
j 1
....
M n
a1k
a 2 k
a1i M 1a1k a2 i M 2 a2 k .... ani M n ank
....
a nk

C- Chun ha cc dng dao ng ring
Nu ta thay vc t dng dao ng ring th i, {ai} bng vc t {bi}
tha mn iu kin
{bi}T[M] {bi} = 1
(2-15)
th vc t {bi} c gi l vc t biu din dng dao ng ring th i

c chun ha, hay gi ngn gn l vc t chun ha dng dao
ng ring th i.
Nu t cc vc t {bi} vo trong mt ma trn vung, k hiu l [B],
b11 b12 .... b1n
b
b
....
b
21
22
2
n
B b1 b2 .... bn .... .... .... ....
(2-13)
b
b
....
b
nn
n1 n 2
th [B] c gi l ma trn chun ha cc dng dao ng ring ca
h.
Lc ny theo (2-15) ta c:
B M B E
T
(2-15)
Trong [E] l ma trn n v cp n

S dng dng chun ha ca cc dng dao ng ring kt hp
vi h ta chnh s cho php ta chuyn vic gii bi ton c n
BTD v gii n bi ton c mt BTD n gin hn nhiu c
trnh by chi tit trong chng 1.
Tht vy, xc nh {bi}, ta t
bi
1
ai
di
(2-16)
Trong di l mt h s.
Thay (2-16) vo (2-15) ta rt ra:
di2 ai
M ai
(2-16)
K hiu ma trn
12
.... .... .... ....
2
n
(2-17)
c gi l ma trn cc tn s dao ng ring, hay ma trn tn s.

Thay (2-16) vo ma trn [A] (2-13), ri thay vo (2-9) ta c:
K B M B
(a)
Nhn bn tri c hai v ca (a) vi [B]T v ch ti (2-15) ta c:
B K B
T
(2-18)
K hiu vc t {q(t)} nh sau c gi l h ta chnh,
y (t ) B q(t )
(2-19)
Thay (2-19) vo PTVP dao ng t do (2-6) ta c,
M B q&&(t ) K B q(t ) 0
(b)
Nhn bn tri (b) bi [B]T, kt hp vi (2-15) v (2-18) ta c:
q&&(t ) q(t ) 0
(2-20)
(2-20) l mt h gm n phng trnh c lp c dng sau y- l

dng PTVP dao ng ca h mt BTD khng c lc cn(1-14):
2
&
q&
(
t
)
i
i qi (t ) 0
(2-21)
( i = 1,2, ...., n)
Gii (2-21) (Xem chng 1- h mt BTD) ta c cc nghim
qi(t), ri thay vo (2-19) ta c li gii ca bi ton.

V D 2.2
Xc nh cc tn s dao ng ring v cc dng dao ng tng
ng ca dm conson trn c t hai khi lng tp trung nh
trn hnh 2-3a. Dm c EJ khng i v b qua khi lng dm khi
tnh. Cho M = ml ( m l cng khi lng phn b)
4
Bi gii:
H c hai BTD. Cc chuyn
v n v tnh c theo
cng thc Maxwell- Mohr v
cho kt qu nh sau:
l3
11
24 EJ
22
l3
3EJ
5l 3
12 21
48EJ
(a)
1, Xc nh cc tn s dao ng ring
Cng nh v d 2-1, thay (a) vo phng trnh tn s (2-11) ta c
mt phng trnh bc hai i vi u, gii phng rnh ny ta c (b
qua tnh ton chi tit):
ml 4
u1 0,1004
EJ
v
ml 4
u2 0, 0043
EJ
suy ra
3,156 EJ
1 2
l
m
suy ra
16, 258 EJ
2
l2
m
(b)
2, Xc nh cc dng dao ng ring

Thay ln lt 1,2 (hay u1,u2) vo h phng trnh (2-9) (l h hai
phng trnh hai n) , ri gi thit trc n th nht bng 1, ta s gii
ra n th hai l cc bin chuyn ng ca khi lng th nht v
th hai, cc dch chuyn ny cho ta dng dao ng tng ng.C th:
Dng dao ng th nht: Thay u1 vo phng trnh th nht (hoc th
hai) ca (2-9) v cho a11 =1 ta c mt phng trnh cha mt bin
a21 nh sau,
M111 u1 a11 1 M 212 a21 0
Thay M1, M2, 11, 12, u1 vo ri gii ta c, a21 = 3,05472; Vc t bin

dao ng cho ta dng dao ng
ring th nht Tl:
T
a1 a11 a21 1, 0 3, 05472
Dng dao ng ny nh trn hnh 2-3b.
Dng dao ng ring th hai hon ton tng t, thay u2 vo (2-9)

ri cho
a12 = 1, ta s gii c a22 = -0,655. Do vc t bin
cho ta dng dao ng ring th hai l:
a2 a12
a22 1, 0 0, 65472
T
Dng dao ng ring th hai nh trn hnh 2-3c.

Ma trn cc dng dao ng ring ca bi ton ny l:
[A] =
1,0
a 11 a 12 1,0
a
3,05472
0,65472
22
21
(c)
3, Chun ha cc dng dao ng ring

xc nh ma trn chun ha cc dng dao ng ring [B] ta phi
tnh cc h s di. Theo (2-16)ta c:
2 0 1,0
2
T
M
d1 = {a1} [M]{a1} = {1,0 3,05472}
= 11,33133M
0 1 3,05472
Suy ra d1 = 3,3662
1,0
2 0
d22 = {1,0 -0,65472} 0 1 M - 0,65472 = 2,42866M,
suy ra d2 = 1,55842
Thay d1,d2 vo (2-16) s c ma trn chun ha [B] nh sau:

1,0 0,2971
1
1
{b1} = {a1} =
d1
3,3662 M 3,05472 0,90747
1,0 0,64168
1
1
{b2} = {a2} =
0,65472
1,55842
M
d2
- 0,42012
1
M
1
M
Ghp hai vc t b1 v b2 , ta c ma trn chun ha cc dng dao

ng ring ca h:
0,29707 0,641677
[B] =
0,90747 0,42012
1
M
(d)
2.3.3 Phn tch ti trng theo cc dng dao ng ring

Xt h c n bc t do, n khi lng M1, M2, ...., Mn; Trn c h ti
trng ng tc dng ti cc khi lng lp thnh vc t ti trng ng
nh trong (2-2):
P1 (t )
P (t )
2
....
....
P(t )
P
(
t
k
)
....
....
P (t )
n
(a)
Ta s phn tch h ti trng ny thnh cc thnh phn t ti tt c

cc khi lng tng ng vi cc dng dao ng ring, ngha l:
Ta s phn tch h ti trng ny thnh cc thnh phn t ti tt c

cc khi lng tng ng vi cc dng dao ng ring, ngha l:
P11' (t ) P12' (t ) .... P1'i (t ) .... P1'n (t )

P1 (t )
'
P (t )
'
'
'
P21 (t ) P22 (t ) .... P2i (t ) .... P2 n (t )
2
..........................................................
....
....
..........................................................
'
'
'
'
P
(
t
)
P
(
t
)
P
(
t
)
....
P
(
t
)
....
P
(
t
k2
ki
kn )
k
k1
....
...........................................................
....
...........................................................
P (t )
P ' (t ) P ' (t ) .... P ' (t ) .... P ' (t )
n
n2
ni
nn
n1
(b)
hay vit dng vc t
P(t )
P1' (t ) P2' (t ) ..... Pi ' (t ) ..... Pn' (t )
(2-22)
Trong , Pki(t) l thnh phn lc tc dng ti khi lng th k tng

ng vi tn s i (dng chnh th i). Nh vy theo (2-19), ta phn
tch vc t ti trng {P(t)} thnh tng ca n vc t ti trng tng ng
vi n dng dao ng ring .
l h ti
P (t ) .... P (t ) .... P (t )
trng tc dng ti n khi lng tng ng vi dng chnh th nht.
Vc t
P (t ) P (t )
'
1
'
11
'
21
'
k1
'
n1
Vc t l h ti trng tc dng ti n khi lng tng ng vi dng
chnh th hai. P ' (t ) P ' (t ) P ' (t ) .... P ' (t ) .... P ' (t ) T

2
12
22
k2
n2
Tng t, ta c cc vc t ti trng tc dng ti cc khi lng tng
ng vi cc dng chnh th ba, th t, v.v. , th k, v.v., th n:
P (t ) P
'
n
'
1n
(t ) P (t ) .... P (t ) .... P (t )
'
2n
'
kn
'
nn
xc nh n vc t ny, ta phi xc nh (nn) thnh phn Pki(t)

(k, i = 1,2,,n). V Pki(t) lin quan ti khi lng th k, v dng dao
ng th i, nn ta t:
Pki' (t ) M k aki H i (t )
(2-23)
Trong :
Mk l khi lng th k
aki l bin dao ng ca khi lng th k tng ng vi dng dao
ng th i [xem (2-12)]
Hi(t) l hm tng ng vi dng chnh th i, cha bit m ta phi xc
nh.
p dng (2-23) cho tt c cc khi lng, ta c vc t ngoi lc

ng tc dng ti cc khi lng tng ng vi dng dao ng th i.
P1'i (t ) M 1a1i H i (t )
P2'i (t ) M 2 a2i H i (t )
..........
..........
Pki' (t ) M k aki H i (t )
..........
...........
P ' (t ) M a H (t )
n ni
i
ni
hay dng ma trn
P1'i (t )
M1
'
P
(
t
)
2i
....
'
Pi (t ) P' (t )
ki
....
'
Pni (t )
Hay thu gn,
M2
....
Mk
P (t ) M a H (t )
'
....
M n
a1i
a
2i
...
H i (t )
aki
...
ani
(2-24)
y, [M] l ma trn khi lng, cn {ai} l vc t (2-12) cho ta dng

dao ng th i . Thay (2-24) vo (2-22), vi (i = 1, 2, , n); ta c:
P(t ) M a1 H1 (t ) M a2 H 2 (t ) .... M ai H i (t ) .... M an H n (t )
(c)
Nhn bn tri hai v ca (c) vi vc t {ai}T, ta c:
ai P(t ) ai M a1 H1 (t ) ai M a2 H 2 (t ) .... ai M ai H i (t )
T
.... ai
M an H n (t )
(d)
Do tnh cht trc giao (2-14), nn cc s hng th 1, 2, ...,(i-1), (i+1),

(i+2),....,n trong (d) u bng khng; ch c s hng th i l khc
khng. T suy ra
ai
P(t ) ai
M ai H i (t )
ai P(t )
H i (t )
T
a
i M ai
T
hay
(2-25)
Thay (2-25) vo (2-24) ta c vc t ti trng tng ng vi dng

dao ng th i
P (t ) M a
'
ai P(t )
T
ai M ai
(2-24)

Ch :
1- Khi s dng cng thc (2-24) cn lu : (2-24) c hai tha s,
(mi tha s c t trong du ngoc n), v phi tnh ring tng
tha s; Tha s th nht l mt vc t c n phn t; tha s th hai
cho ta mt con s; Tch hai tha s ny l mt vc t c n phn t
chnh l vc t ti trng tng ng vi dng dao ng th i.
Ln lt cho ( i= 1, 2, ..., n) vo (2-24); ta xc nh c n vc t ti
trng tng ng vi n dng dao ng ring ca h, c tch ra t
h ti trng cho ban u. C th kim tra s ng n ca php
phn tch t cng thc (b), hoc (2-22).
2- Bng cch tng t, ta cng c th phn tch chuyn v theo cc
dng dao ng ring.
Nh phn tch h ti trng cho theo cc dng dao ng ring, v
nhiu khi c chuyn v, m sau ny, khi nghin cu dao ng cng
bc ca h nhiu bc t do, ta cng c th chuyn vic gii bi ton
h nhiu bc t do phc tp v gii nhiu bi ton nh h mt bc t
do n gin c nghin cu k chng 1.
2.4 CCH CHUYN TNG NG CC TI TRNG

NG T TI CC V TR BT K TRN KT CU V
T TI CC KHI LNG
Khi trn kt cu c cc lc khng t ti cc khi lng, k hiu l
P*k(t) tc dng, gi s c m lc, lp thnh vc t:
P (t ) P (t )
*
*
1
P (t ) .... P (t )
*
2
*
m
(2-26)
Lc ny, c th p dng cc kt qu trnh by phn trn,

ta phi thay th tng ng (chuyn tng ng) h lc ny
thnh h lc t ti cc khi lng
C nhiu cch chuyn tng ng nh vy, song ch l gn
ng. Sau y l mt trong cc cch chuyn tng ng nh
vy da trn gi thit gn ng cho rng: Hai h lc tng ng
l hai h lc gy ra chuyn v tnh ti cc khi lng bng nhau.
K hiu vc t h lc thay th t ti n khi lng l ,

C nhiu cch chuyn tng ng nh vy, song ch l gn ng.
Sau y l mt trong cc cch chuyn tng ng nh vy da trn
gi thit gn ng cho rng: Hai h lc tng ng l hai h lc gy
ra chuyn v tnh ti cc khi lng bng nhau. K hiu vc t h lc
thay th t ti n khi lng l ,
P(t ) P1 (t )
P2 (t ) .... Pn (t )
(2-27)

*ik l chuyn v n v ti khi lng th i do lc bng n v t
ti lc P*k(t) gy ra;
ij l chuyn v n v ti khi lng th i do lc bng n v t ti

khi lng th j gy ra. Khi , chuyn v ti cc khi lng th (1,
2, , n ) do h lc {P*(t)} gy ra, bng chuyn v ny, do h lc thay
th {P(t)}* gy
ra,*ngha
l: * *
*
*
y1 (t ) 11 P1 (t ) 12 P2 (t ) ... 1m Pm (t )
11 P1 (t ) 12 P2 (t ) ... 1n Pn (t )
....
................................................... ................................................
yi (t ) i*1 P1* (t ) i*2 P2* (t ) ... im* Pm* (t ) i1 P1 (t ) i 2 P2 (t ) ... in Pn (t )
....
................................................... .................................................
*
yn (t ) n*1 P1* (t ) n*2 P2* (t ) ... nm
Pm* (t ) n1 P1 (t ) n 2 P2 (t ) ... nn Pn (t )
(c )

K hiu ma trn sau,
11*
.... 1*m
.... 2*m
.... ....
*
.... nm
12*
*
*
22
N * 21
.... ....
*
*
n1 n 2
(2.28)
Lc ny c th biu din h n ng thc (c) di dng ma trn:
P (t ) N P(t )
P(t ) N N P (t )
N *
Suy ra,
(c)
(2-29)
Trong , [N] l ma trn mm ca h c tnh theo (2-1).
2.4 DAO NG CNG BC CA H NHIU BC T DO, KHNG

LC CN CHU LC KCH THCH IU HO: P(t)=P 0sinrt
2.5.1 Biu thc ni lc ng v chuyn v ng
Xt h nhiu bc t do chu tc dng ca cc lc kch thch iu ha

cng tn s. Cng nh h mt bc t do, trong thc t lun tn ti
lc cn; nn d lc cn rt nh, th sau mt khong thi gian no
, dao ng t do cng s mt i. Dao ng ca h lc ny hon
ton ph thuc lc kch thch iu ha, nn ni lc, ng sut, v.v.
cng thay i iu ha cng chu k vi chu k ca lc kch thch.
Khi h c n BTD, s c n tn s dao ng ring. Khi mt trong s

cc tn s ring xp x bng tn s lc kch thch s xut hin hin
tng cng hng. Thc t, tn s lc kch thch thng nh hn
nhiu so vi tn s dao ng ring (r << i), nn cng hng
thng xy ra vi 1, hoc 2. Bi vy, nghin cu cng hng,
ta thng quan tm ti hai tn s nh nht ny. Cc tn s ring l
nghim ca phng trnh tn s (2-10) hoc (2-11)
phc v bi ton kim tra v bi ton thit k, ta phi bit biu
bin ni lc ng v chuyn v ng.
Khi dao ng n nh (phn dao ng t do mt), h dao

ng do tc dng ca cc lc sau:
Cc lc kch thch iu ha P(t) = P0sin rt t ti cc khi lng;
Cc lc qun tnh bin i iu ha cng tn s vi tn s ca lc
kch thch, t ti cc khi lng :
Z i (t ) Z i s inrt
(a)
( i = 1, 2, , n)
Khi , i lng nghin cu S (c th l ni lc, chuyn v, phn
lc, v.v.) ti tit din K no trn h c tnh theo nguyn l cng
tc dng nh sau:
S K (t ) S KP (t ) S K 1Z1 (t ) S K 2 Z 2 (t ) ... S Kn Z n (t )
(b)
V dao ng n nh, nn cc i lng nghin cu u bin i

iu ha theo cng mt tn s vi tn s ca lc kch thch. Bi vy,
khi ti trng t bin , th cc i lng nghin cu cng t bin
, ngha l:
Trong ,
S K S KP0 S K 1Z1 S K 2 Z 2 ... S Kn Z n
(2-30)
S KP0 l tr s ca SK do bin lc ng P0 t tnh gy ra, v

c xc nh bng cc phng php c trnh by trong gio
trnh c hc kt cu.
S ki l gi tr SK do lc qun tnh Zi = 1 t tnh gy ra. (i = 1, 2,
,n)
Zi
l bin ca lc qun tnh Zi(t)
Nh vy, xc nh c Sk ta phi xc nh c cc bin

lc qun tnh Zi.

2.5.2 Xc nh bin ca cc lc qun tnh
Khi b qua lc cn, phng trnh chuyn ng ca khi lng th i,
theo nguyn l cng tc dng , c dng:
yi (t ) i1Z1 (t ) i 2 Z 2 (t ) ... in Z n (t ) iP (t )
(c)
Trong , iP(t) l chuyn v ca khi lng th i do cc lc ng P(t)

gy ra. Sau khi dao ng n nh, c yi(t), Zi(t), v iP(t) u bin
i iu ha vi tn s r ca lc kch thch. Ngha l:
yi (t ) i s inrt v
2
y&
(
t
)
r
i s inrt
ng thi &
i
iP (t ) iP0 s inrt
(d)
Trong , l bin chuyn v ng ca khi lng th i ang tnh.

i
iP0 l chuyn v ca khi lng th i do bin P0 ca cc lc
ng P(t) t tnh gy ra.
Mt khc, lc qun tnh Z i (t ) M i &

y&
i (t )
Thay (d) vo (f) ta c: Z i (t ) M i r 2 i s inrt=M i r 2 yi (t )
Hay rt ra:
yi (t )
1
Z i (t )
2
Mir
(2-31)
Thay (a), (d), v (2-31) vo (c), ri chuyn v v t sinrt lm tha s

chung, ta c:
1
Z i ... in Z n iP0 sin rt 0 (g)
i1Z1 i 2 Z 2 ... ii
2
M ir
V sinrt khc khng (do tn ti dao ng), nn t (g) ta rt ra c h

phng trnh dng xc nh bin ca cc lc qun tnh, khi h
chu tc dng ca cc lc kch thch iu ha v khng c lc cn,
nh sau:
i1Z1 i 2 Z 2 ... ii* Z i ... in Z n iP0 0
(2-32)
( i = 1, 2, , n)
Trong ta k hiu
1
ii
2
M
r
i
*
ii
(2-33)
( i = 1, 2, , n)
Gii h phng trnh (2-32) ta c bin ca cc lc qun tnh.
Nu kt qu tnh ra dng, th chiu gi thit ban u ca lc l
ng; Nu kt qu tnh ra m, th chiu gi thit l sai v phi i
ngc li.
V D 2. 3
Cho dm di l = 6m, trn t hai m t, trng lng mi m t l
G = 10 kN. Khi m t th nht quay vi vn tc n = 450 v/pht to
ra lc ly tm P0 = 5 kN. Xem hnh 2.5a.
Yu cu : Xc nh cc tn s dao ng ring, v v biu bin
m men ng, v biu m men tng cng ca dm. Bit dm
c: J = 8880 cm4; E = 2,1. 104 kN/cm2; Ly g = 981cm/s2 v b qua
khi lng v trng lng ca dm trong tnh ton.
GII
1, Xc nh cc tn s dao ng ring
H c hai bc t do, nn phng trnh tn s, theo (2-11) c dng
M 111 u
D
M 1 21
M 212
0
M 2 22 u
(a)
T cc biu m men n v trn hnh 2.5c v d; ta tnh c theo

Maxwell-Mohr
4l 3
7l 3
11 22
;
12 21
(b)
243EJ
486 EJ
Thay (b) vo (a) v gii, ta c:
Ml 3
u1
;
486 EJ
5Ml 3
u2
162 EJ
Nn
1 162 EJ

;
3
u2
5Ml
1 486 EJ

u1
Ml 3
Thay
G 10kNs 2
kNs 2
M
1, 02
; l 6m
g 9,81m
m
2
1
1 52,5s 1
2
2
2 203s 1
(c)
v EJ vo (c), ta c

2, Xc nh bin cc lc qun tnh
H phng trnh xc nh bin hai lc qun tnh Z 1 v Z2,
theo (2-32), trong trng hp ny l,
11* Z1 12 Z 2 1P0 0
(d)
21 1 22 Z 2 2 P0 0
Tn s lc kch thch r = 2n/60 = 50 s-1; ng thi thay l, E, J vo (b)

ta tnh c
m
11 = 22 = 1,908.10
kN
-4
Thay M, r, 11 vo (2-25) c:
m
12 = 21 = 1,67. 10
kN
(b)
-4
*11 = *22 = - 2,013.10
-4
(n v ca ik trong (b) v (f) c gii thch v d 4- 1)
m
kN
(f)
Cn 1P , v 2 P c th tnh c t cc biu m men n v trn

0
cc hnh 2.5c v d, v biu M P trn hnh 2.5b; Tuy nhin y c

0
th tnh n gin hn, bi v:
1P0
m
P0 .11 5kN .1,908
9,54.104 m
kN
2 P0
m
P0 . 21 5kN .1, 67
8,35.104 m
kN
(g)
Thay (f), (g) vo (d) v gii h phng trnh ny ta c:

Z1 = 25,98 kN;
Z2 = 25,65 kN
(h)
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3, V cc biu ni lc yu cu
C hai cch v biu bin m men ng
a, Cch v trc tip:
Theo cch ny, ta t vo h cc lc c tr s bng bin cc
ngoi lc ng v bin cc lc qun tnh, ri tnh ton nh vi
bi ton tnh di tc dng ca cc lc ny.
b, Cch v theo nguyn l cng tc dng:
Theo cch ny , biu bin m men ng c v theo (2-30)
M M 1.Z1 M 2 .Z 2 M P0
Kt qu cho trn hnh 2.5e;
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So snh hai biu : M v M t( P ) M P ta thy rng, trong trng hp
0
tng qut, h s K ti cc tit din khc nhau l khc nhau. Nh vy,

khc vi h mt bc t do, i vi h nhiu bc t do, ta khng c
mt h s K chung cho tt c cc tit din ; cng nh khng c mt
h s K chung cho tt c cc i lng nghin cu. Tuy nhin nh
sau ny s thy, n gin trong tnh ton , ng thi thin v an
ton, i vi mt i lng nghin cu ta cng c th dng mt h s
K chung, l K ca tit din c tr s K ln nht. V d trng
hp ang xt, h s ng c tr s ln nht i vi m men l ti tit
din t khi lng M2:
Max K = 58,855 = 16,4
3,335
Thm ch, nhiu khi ngi ta cn dng mt h s K chung cho tt c cc

i lng. Lc ny h s ng c tnh theo cng thc (1-36) i vi h
mt bc t do, m ta ly tn s ring b nht 1 tnh ton.
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c, Biu m men tng cng:
Trc khi ng c t ti khi lng th nht hot ng, trong dm
c ni lc do trng lng ca hai ng c gy ra. Biu m
men ny v c nh trn hnh 2.6f. (k hiu l Mt(M)). R rng, khi
ng c lm vic, m men ln nht xut hin trong dm s l tng
ca hai biu ny, v ta gi n l biu m men tng cng.
Mtc = M + Mt(M)
(k)
Kt qu nh trn hnh 2.5g.

Ch :
Ta cng c th gii bi ton bng cch phn tch ti trng iu ha
cho ra n h ti trng tng ng vi cc dng dao ng ring (vi bi
ton ang xt n=2) ri gii bi ton nh h mt bc t do. Cch lm
ny s c trnh by mc tip theo y.
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2.6 DAO NG CNG BC CA H NHIU BC T DO,
KHNG LC CN, CHU LC KCH THCH BT K P(t)
Trong trng hp ny, ta c th gii bi ton bng nhiu cch.
Cch 1: Ta phn tch ti trng bt k thnh cc hm iu ha di
dng chui lng gic, ri gii bi ton nh c trnh by mc
2.5. Khi ti trng ng P(t) c chu k T, th c th phn tch thnh chui
lng gic nh sau:
P (t ) a0 a1 s inrt+a 2 s in2rt+...+a k sin krt .... b1cosrt+b 2cos2rt+...+b k coskrt+... (2-34)
Trong ,
r=
(c gi l tn s c bn ca lc kch thch)
T
a0 = 1 P t dt
T
k
0
T
ak = T P t sinkrt dt
0
T
(2-
k
P t
T 0
34)
bk =
coskrt dt
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Cch 2: S dng h ta chnh a h n BTD v n bi ton

h mt BTD. Xt trng hp khng lc cn, PTVP dao ng tng
qut c dng:
y&(t ) K y (t ) P (t )
M &
(2-35)
Nhn bn tri (2-35) vi [B]T , v ch ti (2-19) ta c:

T
T
T
B M B q&&(t ) B K B q (t ) B P(t )
Hay
q&&(t ) q(t ) B P(t )

T
(2-35)
Phng trnh (2-35) l mt h gm n phng trnh c lp c

dng nh dng PTVP dao ng ca h mt BTD (1-39)
[iu ny cng c ni ti khi nghin cu dao ng t do
im (c) ca mc 2.3.2]
2
&
q&
i (t ) i qi (t ) Bi1 P1 (t ) Bi 2 P2 (t ) .... Bin Pn (t )
(2-36)
( i = 1, 2, ...., n)
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Trong , Bij (i, j = 1,2,....,n) l cc phn t ca ma trn chun ha .

Nghim ca phng trnh (2-36) c biu din qua tch phn
Duhamel (1- 41) nh bit mc (1- 5). Thay cc nghim qi(t) vo
(2-19) ta c li gii ca bi ton.
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Cch 3: Da vo (2-24) ta phn tch vc t ti trng {P(t)} theo

cc dng chnh, sau gii n bi ton nh h mt BTD c
trnh by chng mt.C th l: ( B qua cc bin i chi tit):
Phng trnh chuyn ng ca khi lng th k di tc dng ca
h lc ng {P(t)} l:
n
yk (t ) aki Si (t )
(2-37)
i 1
Trong Si(t) l nghim ca PTVP sau:

&(t ) 2 S (t ) H (t )
S&
(2-38)
y Hi(t) c tnh theo cng thc (2- 25), cn aki l thnh phn th
i
k ca vc t bin dao ng ca dng chnh th i. (xem 2-12);

phng trnh vi phn (2-38) c dng nh ca h mt BTD, nghim
tng qut ca n c biu din qua tch phn Duhamel (1-41) nh
c trnh by trong mc 1-5.
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NG LC HC CNG TRNH
Chng 3
DAO NG NGANG CA THANH THNG
C V HN BC T DO
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Chng 3: DAO NG NGANG CA THANH THNG

C V HN BC T DO
3.1 PHNG TRNH VI PHN TNG QUT DAO NG NGANG
CA THANH THNG
Mt h kt cu thc t lun lun c v hn bc t do. Xt on thanh
thng c t trong h ta (yz). Xt trng hp tng qut thanh
c tit din thay i vi khi lng phn b cng m(z), chu tc
dng ca h lc ngang phn b cng q(z,t) nh trn hnh 3.1a.
Dao ng ngang ca h ti thi
im no , chnh l v tr ng
n hi ca n ti thi im
xt. Phng trnh ng n hi
khi h chu tc dng ca ti
trng ng, ph thuc hai bin l
z v t, ngha l:
y = y(z,t)
(a)
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C V HN BC T DO
Mi quan h gia ng n hi ca trc thanh c tit din thay i
vi ti trng ngang phn b trn thanh, trng hp ti trng tnh,
c nghin cu trong gio trnh Sc bn vt liu:
d2
dz 2
d2
EJ
z
y
z
q z
2
dz
(b)
Vi qui c trc y hng xung l dng, cn ti trng hng ln l

dng. Trng hp ti trng ng th:
z 2
2
EJ
(
z
)
y
(
z
,
t
) p( z , t )
2
z
(3-1)
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C V HN BC T DO
y, p(z,t) l tng ti trng ngang tc dng trn dm (chiu hng
ln l dng). Khi dao ng, gi s ti thi im t h ang chuyn
ng hng xung cng chiu vi trc y, ngoi lc kch thch q(z,t),
thanh cn chu tc dng ca h lc qun tnh phn b:
2
Z ( z , t ) m( z ) 2 y ( z , t )
t
(c)
b)
Z(z,t)
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C V HN BC T DO
V lc cn phn b:
R(z,t)
(d)
(ngc chiu chuyn ng)

Do ta c:
P( z , t ) q( z, t ) Z ( z , t ) R( z, t )
(3-2)
hay l
2
P ( z , t ) q ( z , t ) m( z ) 2 y ( z , t ) R ( z , t )
t
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C V HN BC T DO
Thay (3-2) vo (3-1) ri chuyn v, ta c PTVP dao ng
ngang tng qut ca thanh thng c tit din thay i l:
2
z 2
2
2
EJ ( z ) z 2 y ( z, t ) m( z ) t 2 y ( z , t ) R( z , t ) q( z , t )
(3-3)
Trng hp ring, khi tit din thanh l hng s, th phng trnh

(3-3) c dng n gin hn:
2
z 2
2
2
EJ 2 y ( z , t ) m 2 y ( z , t ) R ( z , t ) q ( z , t )
z
t
(3-3)
Trng hp dao ng t do th v phi ca (3-3) hay (3-3) bng

khng. Sau y ta gii PTVP (3-3) trong mt s trng hp ring.
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C V HN BC T DO
3.2 DAO NG T DO KHNG C LC CN CA THANH
THNG TIT DIN HNG S - TNH CHT TRC GIAO CA
CC DNG DAO NG RING
3.2.1 Phng trnh vi phn dao ng t do khng c lc cn
Phng trnh vi phn dao ng trong trng hp ny, theo (3-3) l
4
m 2
y( z, t )
y( z, t ) 0
4
2
z
EJ t
(3-4)
y l PTVP o hm ring cp bn thun nht, nghim ca n c th

c biu din di dng tch bin nh sau
y ( z , t ) y ( z ) s(t )
(3-5)
Thay (3-5) vo (3-4) ta c:

EJ 1 d 4 y z
1 d 2S t
EJ d 4 y z
d 2S t
S t
y z 0 chuyn v c:
4
4
2
m y z dz
S t dt 2
m dz
dt
(f)
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C V HN BC T DO
Hai v ca (f) ph thuc hai bin khc nhau nn chng ch bng nhau
khi c hai v cng c gi tr bng mt hng s no , gi s k hiu
l 2. Nh vy, t (f) ta c th biu din PTVP o hm ring cp
bn (3-4) bng hai PTVP thng (ch ph thuc mt bin).
d 2 S (t )
2
S (t ) 0
2
dt
d 4 y z m 2
y z 0
dz 4
EJ
(3-6)
(3-7)
Nh , thay cho gii mt PTVP o hm ring (3-4) phc tp, ta gii

hai PTVP thng (3-6) v (3-7) n gin hn nhiu.
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C V HN BC T DO
3.2.2 Gii PTVP (3-6)-Xc nh quy lut dao ng t do
Phng trnh vi phn (3-6) chnh l PTVP dao ng t do, khng lc
cn, ca h mt bc t do (1-14) c trnh by trong chng 1,
nn nghim tng qut ca n theo (1-18) s l:
s (t ) Asin( t+ )
Hay
s (t ) sin( t+ )
(3-8)
y ta cho A = 1; S d lm c nh vy, bi v t (3-5) ta thy

bin dao ng chnh l hm y(z). Bi vy sau ny ta gp A nm
trong y(z) lun [xem(3-5)]. Theo (3-8), dao ng t do ca h c v
hn BTD cng l dao ng iu ha.
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C V HN BC T DO
3.2.4 Xc nh tn s dao ng ring ca cc dm mt nhp
Nghim ca (3-7) l hm y(z) s cho ta bin dao ng, cng chnh
l dng dao ng ring ca h. Do thanh c tit din khng i, nn (37) l PTVP thng cp bn c h s l gng s; Nghim tng qut c
dng
y ( z ) a1e 1z a2 e 2 z a3e 3 z a4e 4 z
(g)
Trong a1, a2, a3, a4 l cc hng tch phn, cn 1, 2, 3, 4 l

nghim ca phng trnh c trng ca PTVP (3-7) nh sau
4 k4 = 0,
vi k hiu
Nn ta c:
1,2 = k;
m 2
EJ
(3-9)
3,4 = ik
(h)
k4 =
v
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C V HN BC T DO
Thay (h) vo (g) ta c nghim ca PTVP (3-7) l:
y ( z ) a1e kz a2 e kz a3eikz a4e ikz

S dng quan h
1
Chx e x e x
2
v Shx
1 x x
e e
2
(i)
(k)
Th (i) tr thnh:
y ( z ) Achkz Bshkz Ccoskz+Dsinkz
(3-10)
Trong , A, B, C, D, l cc hng tch phn, c xc nh t cc

iu kin bin nh sau
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C V HN BC T DO
a, Ti gi ta khp c: vng
m men
y(z) = 0; v
M(z) = 0 => d 2 y z = 0
dz 2
d y z
dz
b, Ti ngm cng c: y(z) = 0 v gc xoay (z)

d 2 y=z
c, Ti u t do c:
M men
Lc ct
C1 C 3
2
Q(z) = 0 =>
thun tin cho tnh ton sau ny , ta t:

A=
; B=
C=
(3-11)
dz 2
M(z) = 0 => d 3 y z = 0; v
dz 3
C1 C 3
2
C2 C4
2
=0
; D=
=0
C2 C4
2
(3-12)
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C V HN BC T DO
Khi nhim (3-10) c dng:
y ( z ) C1 Akz C2 Bkz C3Ckz C4 Dkz
(3-13)
Trong ta k hiu cc hm nh
sau:
Akz =
ch kz cos kz
2
Bkz =
sh kz sin kz
2
;
(3-14)
Ckz = ch kz cos kz ;
2
Dkz = sh kz sin kz
cn c gi l cc hm nh hng c mt s tnh cht c bit.

Hn na, gi tr ca bn hm ny ng vi cc gi tr khc nhau ca
(kz) bin thin t [0,0] n [6,5] ( l khong bin i thc t) c
tnh sn v lp thnh bng tra sn.
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C V HN BC T DO
1, Tnh hon v vng quanh ca cc o hm.
Akz
Akz = k Dkz
Bkz
Dkz
(m)
Ckz
Bkz = k Akz
C th minh ha tnh cht ny trn hnh v bn cnh. Du () l k hiu
Ckz = k Bkz
php o hm theo bin z. Da vo tnh cht ny, cc o hm ca
Dkzn
= k gin.
Ckz
y(z) c dng rt
y '( z ) ( z ) k C1Dkz C2 Akz C3 Bkz C4Ckz
M ( z)
y ''( z )
k 2 C1Ckz C2 Dkz C3 Akz C4 Bkz
EJ
Q( z )
y '''( z )
k 3 C1 Bkz C2Ckz C3 Dkz C4 Akz
EJ
(3-15)
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C V HN BC T DO
2, Ti ta z = 0, gi tr cc hm bit:
A(0) = 1,
cn
B(0) = C(0) = D(0) = 0;
(n)
Nh vy, nghim tng qut ca PTVP o hm ring (3-4) nh sau:
y ( z, t ) C1 Akz C2 Bkz C3Ckz C4 Dkz sin(t )
(3-5)
xc nh cc hng tch phn trong (3-13), ta s dng cc iu kin

bin (3-11) nu bit cc lin kt ta; Cn trong trng hp tng
qut, ta c cc iu kin ti ta z = 0 c gi thit nh sau
y(0) = y0;
y(0) = y0;
y(0) = -
M0
;
EJ
Q0
y(0) = - E J
(3-16)
Cc gi tr (y0, y0, M0, Q0), c gi l cc thng s ban u. Thay (316) vo (3-13) v (3-15), kt hp vi (n), ri gii h bn phng trnh
ny ta c:
C 1 = y0
; C2 =
y '0
;
k
C3 =
M0
k 2 EJ ;
C4 =
Q0
k 3EJ
(3-17)
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C V HN BC T DO
Thay cc hng tch phn tnh theo (3-17) vo (3-13) v (3-15) , ta
c cc biu thc biu din dng dao ng (bin dao ng) ca
chuyn v, gc xoay, m men, v lc ct ti tit din c ta z bt k
trn kt cu.
y0'
M
Q
y ( z ) y0 Akz Bkz 2 0 Ckz 3 0 Dkz
k
k EJ
k EJ
M
Q
y '( z ) y0 kDkz y0' Akz 0 Bkz 2 0 Ckz
kEJ
k EJ
Q
M ( z ) EJy0 k 2Ckz EJy0' kDkz M 0 Akz 0 Bkz
k
Q( z ) EJy0 k 3 Bkz EJy0' k 2Ckz M 0 kDkz Q0 Akz
(a)
(b)
(3-17)
(c )
(d )
powerpoint.vn

C V HN BC T DO
R rng, (3-17) cho php ta xc nh c cc i lng cn thit
tnh dao ng t do ca thanh . Mt khc, tn ti dao ng, y(z) phi
khc khng, cng c ngha l, bn thng s ban u trong (3-16) khng
th ng thi bng khng. Hay ni cch khc, h bn phng trnh iu
kin bin xc nh bn hng s C1,C2,C3 C4, c nh thc cc h s
phi bng khng. iu kin ny dn ti mt phng trnh siu vit dng
xc nh thng s k cng tc l phng trnh xc nh -, m
ta gi l phng trnh tn s. Do tnh cht chu k ca cc hm siu vit,
nn phng trnh tn s s c v s nghim (k1, k2, v.vk ); Thay cc
ki vo (3-9) ( i = 1, 2, , ), ta s xc nh c v s cc tn s dao
ng ring i, ( tun theo k hiu: 1 < 2 < < i < ). Nh vy, h
c v s bc t do s c v s tn s dao ng ring. Li thay cc i,
(ki), vo phng trnh (3-17) ta li xc nh c v s dng dao ng
ring tng ng. Tt nhin, dao ng t do ca h l tng ca cc dao
ng ring ny.
powerpoint.vn

C V HN BC T DO
Ngha l (3-13) c dng chi tit nh sau:
i 1
i 1
y ( z ) yi ( z ) C1i Aki z C2i Bki z C3i Cki z C4i Dki z
(3-13)
Lc ny, y ( z , t ) yi ( z ) si (t )
i 1
hay
y ( z , t ) C1i Aki z C2i Bki z C3iCki z C4i Dki z sin(t )
(3-5)
i 1
Cc [C1i, C2i, C3i, C4i ] c tnh theo cc biu thc (3-17), trong
phi thay k bng cc ki. Tng t, c cc biu thc y(z,t); M(z,t); Q(z,t)
Ch :
Thc t, ch c tn s ring b nht, hay hn na l tn s ring th
hai, th ba l c ngha . Cc tn s cao hn khng c ngha thc
t, v c th n khng hnh thnh do bn thn chng gy nhiu lon
cho nhau; hoc chng c hnh thnh nhng gy ra bin rt nh.
powerpoint.vn

C V HN BC T DO
3.2.3 Gii PTVP (3-7) Xc nh tn s dao ng ring v dng
dao ng ring
Trc ht, ta xt dao ng ca dm n
gin c mt u ngm cng v mt u
t do, tit din hng s, nh trn hnh
3.2a (dm conson)
1, Xc nh cc thng s ban u:
Ti u ngm (z = 0) ta c:
1
y0 = 0; y0 = 0;
cn
M0 0; Q0 0; cha bit
(a)
powerpoint.vn

C V HN BC T DO
2, Xc nh cc tn s dao ng ring.
2
Ti u t do (z = l) ta c:
Ml = 0; Ql = 0
(b)
Thay (b) vo (3-17c,d), ng thi
Q0
M
A
k 1 (a)
k1 0
ta
B
s dng cc thng s ban0 u
c
k
h phng trnh sau: kM 0 Dk 1 Q0 Ak 1 0
hay dng ma trn
A kl
kD
kl
Bkl M 0
0
k
A kl Q 0
(m l k hiu cng
khi lng phn b)
(c)
powerpoint.vn

C V HN BC T DO
Do phi tn ti dao ng, nn M0, v Q0 phi khc khng. Do t
(c) ta suy ra nh thc
D=
A kl
kD kl
B kl
k 0
A kl
Thay cc biu thc (3-14) vo ta c:
D chk1 cosk1 sh 2 k1 sin 2 k1 0

2
hay
(d)
D chk1.cosk1+1=0
(d) l phng trnh tn s ca bi ton ang xt, l phng trnh siu
vit nn s c v s nghim. Nh ni chng hai, i vi h
nhiu BTD, quan trng nht l hai, hay ba tn s u tin.
powerpoint.vn

C V HN BC T DO
y ta gii gn ng phng trnh (d) xc nh c ba nghim
u tin nh sau
k1 0,6 1,88;
suy ra
1 =
3,515 EJ
l2
m
k2 1,49 4,68;
suy ra
2 =
22 EJ
l2 m
3 =
61,7 EJ
l2
m
tng t ta c
powerpoint.vn

C V HN BC T DO
3, Xc nh cc biu thc bin dao ng, bin ni lc ng
Thay ln lt cc i vo h phng trnh (c), kt hp vi iu kin
u , s xc nh c M0, v Q0. Li thay M0, Q0 vo (3-17) s xc
nh c cc biu thc bin dao ng, bin gc xoay ng,
bin m men ng ,bin lc ct ng. Ba dng dao ng u
tin cho trn hnh 3.2b, c, d.
powerpoint.vn

C V HN BC T DO
i vi cc dm mt nhp khc, cch lm hon ton tng t, v ta
thy cc tn s dao ng ring c th c biu din bng mt
cng thc chung c tnh cht tng qut nh sau:
i =
Bi
l2
EJ
m
(3-18)
Trong Bi l mt h s. Trong phn ph lc c bng (3-1) cho cc

gi tr Bi (i= 1, 2, 3, 4) v cc dng dao ng tng ng vi bn
tn s c bn u tin ca mt s dm mt nhp hay gp.
Bng 3.1 ( xem phn ph lc ).
powerpoint.vn

C V HN BC T DO
3.2.5 Tnh cht trc giao ca cc dng dao ng ring
Cng nh h c hu hn BTD, cc dng dao ng ring ca h v
hn BTD cng c tnh cht trc giao.
Tht vy, t PTVP dao ng t do (3-4), xt trng hp tng qut
khi tit din thay i, c dng:
2
z 2
2
2
EJ ( z ) z 2 y ( z , t ) m( z ) t 2 y ( z , t )
(3-19)
Xt hai dao ng ring th i v th k. Phng trnh dao ng

tng ng, theo (3-5) l,
yi ( z , t ) yi ( z ) sin(i t i )
(a)
yk ( z , t ) yk ( z ) sin(k t k )
(b)
powerpoint.vn

C V HN BC T DO
Thay (a) vo (3-19) , ri chia hai v cho sin(it+i) ta c,
d2
dz 2
d2
2
EJ z 2 y i z m z i y i z
dz
(c)
Nhn hai v ca (c) vi dng dao ng th k,[ yk(z)], ri tch phn

trn ton b chiu di thanh, ta c
l
d2
0 y k z dz 2
d2
2
EJ
z
y
z
dz
y
z
m
z
i
k
i y i z dz
dz
0
l
(c)
Tnh tch phn bn tri bng phng php tch phn phn on ta
c,
l
l
2
2
d
d
(d)
i2 m z y k z y i z dz EJ z 2 y k z 2 y i z dz
dz
dz
0
0
powerpoint.vn

C V HN BC T DO
Lm hon ton tng t vi dng dao ng th k, ngha l thay (b)
vo (3-19) ri bin i tng t, ta c quan h cng c dng
nh (d):
l
l
2
2
2k m z y k z y i z dz EJ z
0
d
d
y
y i z dz
k
2
2
dz
dz
(f)
Tr hai phng trnh (d) v (f) cho nhau, v ch i k, ta rt ra:

1
m( z ) y ( z ) y ( z )dz 0
i
(3-20)
y l iu phi chng minh: quan h (3-20) l iu kin trc giao

ca hai dng dao ng ring th i v th k. Thay (3-20) vo (d)
hoc (f) ta cn rt ra,
l
d2
d2
0 EJ z dz 2 yi z dz 2 y k z dz 0
l
d2
0 yi z dz 2
d2
EJ
z
y
z
k
dz 0
2
dz
(3-21)
(3-21)
powerpoint.vn

C V HN BC T DO
Cn trng hp c bit khi, i = k, ta c:
l
d2
m z y k z dz y k z 2
dz
0
0
2
k
d2
EJ
z
y
z
k
dz
2
dz
(3-21)
Da vo tnh cht trc giao ny, ta c th phn tch ti trng q(z,t),

chuyn v y(z,t) theo cc dng dao ng ring. Nh , c th chuyn
bi ton dao ng cng bc ca h v hn BTD v gii cc bi ton
dao ng cng bc h mt BTD nh s nghin cu cc phn sau
powerpoint.vn

C V HN BC T DO
3.2.5 Phn tch ti trng theo cc dng dao ng ring
Cng nh (2-15), ta phn tch ti trng q(z,t) thnh cc thnh phn
tng ng vi cc dng dao ng ring nh sau:
q( z , t ) qi ( z , t )
(3-22)
i 1
Trong , qi(z,t) l thnh phn ti trng tng ng vi dng dao

ng th i, nn n lin quan ti yi(z). Do ta c th biu din
qi(z,t) di dng sau,
qi ( z , t ) m( z ). yi ( z ).H i (t )
(3-23)
powerpoint.vn

C V HN BC T DO
y Hi(t) l hm cha bit cn phi tm. Cch lm hon ton nh
mc 2.3.3; Thay (3-23) vo (3-22), ri nhn hai v vi yi(z). Tip
theo ta tch phn hai v trn ton b chiu di thanh c:
1
m
(
z
)
y
(
z
)
H
(
t
)
i
i dz
i 1
q( z, t ) yi ( z )dz yi ( z )
khai trin v bn phi ta c
m( z ) y ( z) y ( z)dz m( z ) y ( z ) y ( z )dz ... m( z ) y ( z ) y ( z )dz

... m( z ) y ( z ) y ( z )dz ...
(3-22)
H i (t )
Do tnh cht trc giao (3-20), tt c cc s hng trong (3-22) u

bng khng, tr s hng th i; nn t (3-22) ta c
l
q( z, t ) y ( z )dz
i
H i (t )
m( z ) yi ( z ) dz
2
powerpoint.vn

C V HN BC T DO
Thay (3-24) vo (3-23), v cho i bin thin t i = 1, 2, ... ta c
cc thnh phn ti trng tng ng vi cc dng dao ng ring.
l
q( z, t ) y ( z)dz
i
qi ( z , t ) m( z ) yi ( z ). l 0
2
m
(
z
)
y
(
z
)
i dz
(3-23)
powerpoint.vn

C V HN BC T DO
3.2.7 Dng chun ca cc dao ng ring
Nhn vo (3-23) ta thy hm ti trng qi(z,t) khng thay i nu ta
nhn vo hm yi(z) mt s bt k. Nh vy, nu ta chn mt s
thch hp nhn vi yi(z) c hm mi k hiu l , sao cho mu
s ca (3-23) bng mt, ngha l
m z y z dz 1
l
(3-20)
th dng dao ng c biu din bng hm ny c gi l

dngchun ca dao ng ring . Tng ng vi dng chun, hm
ti trng c dng n gin:
l
*
(3-23)
qi ( z , t ) m( z ) yi ( z ) yi* ( z )q ( z , t )dz
0
V hm
H i (t ) yi* ( z )q( z , t )dz
(3-24)
powerpoint.vn

C V HN BC T DO
Ch :
a, Trng hp trn thanh c cc lc tp trung Pj(t) tc dng. Lc
ny ta c th lm gn ng bng cch thay lc tp trung bng h
lc phn b tng ng. Nh vy,(b qua bin i chi tit) ta
c hm Hi(t) nh sau:
P t y z
n
Hi(t) =
j1
(3-25)
m z yi z dz
2
Cn ng vi dng chun,
Hi(t) =
P
t
y
j i z j
n
(3-25)
j1
y, n l s lc tp trung, cn zj l ta ca im t lc tp trung Pj(t);
powerpoint.vn

C V HN BC T DO
b, Khi trn h c c lc phn b q(z,t), v cc lc tp trung Pj(t) tc
dng, th hm Hi(t) c xc nh theo nguyn l cng tc dng.
Li biu din nghim ca PTVP (3-27) di dng tch bin v
cng nh khi nghin cu dao ng t do, nu ta phn tch bin
dao ng theo cc dng dao ng ring, th
y ( z, t ) yi ( z ) Si (t )
(3-28)
i 1
y, hm ch ph thuc thi gian Si(t) m ta cn tm, cn c gi

l ta khi qut. xc nh Si(t), ta thay (3-28) vo (3-27); sau
nhn hai v vi yk(z) , ri tch phn trn ton b chiu di thanh
i 1
d2
0 y k z dz 2
EJ z
d2
d2
y i z Si t dz y k z m z y i z 2 Si t dz
2
dz
dt
i 1
0
l
y z q z f t dz
k
(3-27)
powerpoint.vn

C V HN BC T DO
Ch ti tnh cht trc giao (3-20) v (3-21), cng vi cc quan h
(3-21) , v (3-21), phng trnh (a) tr thnh (c gi t bin i):
q z y z dz
S
t
+ i Si(t) =
i
dt 2
f t
hay = Ki f(t)
m z y z dz
(3-29)
q z y z dz
i
Trong k hiu h s
Ki =
m z y z dz
(3-30)
Khi dng dao ng l chun th:
Ki = q z yi z dz
(3-30)
powerpoint.vn

C V HN BC T DO
Phng trnh vi phn (3-29) c dng nh PTVP dao ng (1-39)ca
h mt BTD, khng c lc cn, chu lc kch thch bt k nghin
cu chng 1. Xt trng hp, trc khi chu lc kch thch, h
trng thi tnh (y0 = v0 = 0), th nghim ca (3-29) c biu din qua
tch phn Duhamel tng t (1-41) nh sau,
Ki
Si (t )
i
f ( ) sin (t )d
i
(3-31)
( i = 1, 2, )
powerpoint.vn

C V HN BC T DO
Kt lun:
gii bi ton dao ng cng bc, trc ht phi gii bi ton
dao ng t do xc nh cc tn s ring i v cc dng dao ng
ring yi(z). Sau thay vo (3-30) xc nh cc Ki, ri li thay vo
(3-31) xc nh cc Si(t). Cui cng, thay cc Si(t) tnh theo (3-31)
vo (3-28), ta s nhn c li gii ca bi ton.
Ki
y ( z , t ) yi ( z ) f ( ) sin i (t )d
i 0
i 1
(3-28)
C y(z,t) ta c th xc nh c cc i lng nghin cu khc nh:

gc xoay, m men un, lc ct, bng cch o hm y(z,t) theo bin z.
powerpoint.vn

C V HN BC T DO
3.3 DAO NG CNG BC KHNG C LC CN CA
THANH THNG TIT DIN KHNG I
3.3.1 Trng hp lc kch thch phn b bt k q(z,t)
Xt trng hp ti trng mt thng s, ngha l c th biu din ti
trng theo (1-38) nh sau,
q( z , t ) q( z ) f (t )
(3-26)
Trong :
q(z) ch ph thuc ta khng gian z, biu din qui lut bin i
ca ti trng theo chiu di thanh, c gi l hm ti trng c s.
f(t) ch ph thuc thi gian t, nh trong (1-38), c gi l hm cht
ti. Lc ny, PTVP dao ng (3-3), khi b qua lc cn, s l:
2
z 2
2
2
EJ ( z ) z 2 y ( z, t ) m( z ) t 2 y ( z , t ) q ( z ) f (t )
(3-27)
powerpoint.vn

C V HN BC T DO
3.3.2 Trng hp lc kch thch phn b u quy lut iu ho
q(z,t) = q0sinrt
Nu thi im ban u h ng yn, ngha l, y0 = v0 = 0; th y
l trng hp ring ca li gii (3-28), trong ta ch vic thay
l
hm f() bng hm sinr; Cn Ki = l
q 0 y i z dz
0
. Tuy nhin, y l
m z yi z dz
2
trng hp thng gp trong thc t, nn s c trnh by chi

tit hn y.
Trng hp lc kch thch iu ha, th dao ng cu h khi n
nh cng thay i iu ha vi chu k bng chu k ca lc kch
thch. Ngha l,
y ( z , t ) y ( z ) s inrt
(3-32)
powerpoint.vn

C V HN BC T DO
Hm bin dao ng y(z) do ti trng ng gy ra, hon ton xc
nh c t phng trnh (3-13). Song y ta s gii trc tip
t PTVP dao ng ca h li t ra n gin hn.
Tht vy, thay (3-32) v o hm bc hai ca n vo PTVP (3-3),
ri chia hai v cho EJsinrt,
b qua lc cn, ta c PTVP sau,
q0
d4
4
y z k y z
(3-33)
4
dz
EJ
Trong k hiu
mr 2
k4 =
EJ
(3-34)
q
Nghim ring ca (3-33) l ( 4 0 ); Nn nghim tng qut ca (3-33) l:
k EJ
q0
y ( z ) C1 Akz C2 Bkz C3Ckz C4 Dkz 4
(b)
k EJ
powerpoint.vn

C V HN BC T DO
Cn cc o hm ca y(z) vn hon ton nh (3-15) [do s hng
cui trong (b) l hng s]. Li s dng cc iu kin bin (3-16) , ta
xc nh c:
C 1 = y0 q 0
k 4 EJ
'
y
0
C2 =
;
k
0
C3 = M
;
2
k EJ
C4 = q3 0
k EJ
(c)
Thay (c) vo (b) v (3-15) ta c biu thc bin dao ng, v

biu thc bin ni lc ng khi thanh chu lc kch thch phn b
u theo lut iu ha q0sinrt l:
y0'
M
q
y ( z ) y0 Akz Bkz 2 0 Ckz Q0 Dkz 4 0 ( Akz 1)
k
k EJ
k EJ
M
Q
q
y '( z ) ky0 Dkz y0' Akz 0 Bkz 2 0 Ckz 3 0 Dkz
kEJ
k EJ
k EJ
Q
q
M ( z ) EJy ''( z ) k 2 EJy0Ckz kEJy0' Dkz M 0 Akz 0 Bkz 02 C kz
k
k
q
Q( z ) EJy '''( z ) k 3 EJy0 Bkz k 2 EJy0' Ckz kM 0 Dkz Q0 Akz 0 Bkz
k
(d1)
(d 2)
(3-33)
(d 3)
(d 4)
Trong h s k c tnh theo (3-34).
powerpoint.vn

C V HN BC T DO
th ca cc hm trong (3-35) cho ta cc biu bin chuyn v
v ni lc ng ca thanh . Gi tr ca cc hm (Akz,Bkz,Ckz,Dkz) ng
vi cc tr khc nhau ca kz c cho trong cc bng tra sn
phn ph lc, s gip ta v cc biu ny
Trng hp ti trng phn b trn nhiu on khc nhau, cc

phng trnh (3-35) ch p dng cho on u tin. Cc phng
trnh ca cc on tip theo c th vit c da vo phng
php truy hi kiu thng s ban u quen thuc trong sc bn
vt liu.
powerpoint.vn

C V HN BC T DO
Xt hai on thanh th n v (n+1) c phn chia ti ta z = a.
Trn mi on c lc ng phn b u qn sinrt, v q(n+1) sinrt tc
dng. Ti ranh gii gia hai on c lc tp trung Pasinrt, v m men
tp trung Masinrt tc dng (xem hnh 3.3), vi qui c: lc hng ln
l dng, m men dng khi quay thun chiu kim ng h. Khi
cng thc truy hi c dng nh (3-36)
powerpoint.vn

C V HN BC T DO
ya'
M
P
q
yn 1 ( z ) yn ( z ) ya Ak ( z a )
Bk ( z a ) 2 a Ck ( z a ) 3 a Dk ( z a ) 4 a Ak ( z a ) 1
k
k EJ
k EJ
k EJ
M
P
q
yn' 1 ( z ) yn' ( z ) k ya Dk ( z a ) ya' Ak ( z a ) a Bk ( z a ) 2 a Ck ( z a ) 3 a Dk ( z a )
kEJ
k EJ
k EJ
P
q
M n 1 ( z ) M n ( z ) k 2 EJ ya Ck ( z a ) kEJ ya' Dk ( z a ) M a Ak ( z a ) a Bk ( z a ) 2a Ck ( z a )
k
k
q
Qn 1 ( z ) Qn ( z ) k 3 EJ ya Bk ( z a ) k 2 EJ ya' Ck ( z a ) kM a Dk ( z a ) Pa Ak ( z a ) a Bk ( z a )
k
( f 1)
( f 2)
( f 3)
( f 4)
Trong , ya, ya, qa, l bc nhy ca bin vng, gc xoay,

v cng lc phn b ti ta z = a ( nh trong sc bn vt liu);
Cc v d minh ha cch p dng phng php ny s c trnh by
cui chng.
Qua ni dung c trnh by y v chng hai ta thy rng,
trng hp lc kch thch bt k, ta nn phn tch ti trng theo cc
dng dao ng ring tnh s n gin hn; Cn trng hp lc
kch thch iu ha, ta khng nht thit phi phn tch ti trng, m c
th nhn c kt qu nh cc biu thc (3-35) v (3-36) (vi h v
hn BTD), hay (2-22) kt hp vi (2-24) (vi h hu hn BTD).
powerpoint.vn

C V HN BC T DO
3.3.3 Trng hp lc tp trung P(t)
Gi s trn thanh c lc ng tp trung t ti ta , z = a , c
biu din dng:
P (t ) Pf (t )
(a)
nh trn hnh 3.4a, thay th tng
ng lc tp trung bng on ti
trng phn b u cng q(z) trn
on thanh di z nh trn hnh 3.4b.
Hp ca hai h lc bng nhau, nn:
P lim q ( z ) z q ( z )dz
z 0
(b)
powerpoint.vn

C V HN BC T DO
Thay (b) vo (3-30) ta c:
Ki =
Py i a
l
m yi z dz
(3-37)
Trng hp ring, khi P(t) l lc iu ha:

P(t) = P sin rt
(b)
Lc ny PTVP dao ng (3-29) s l,
d2
2
S
(
t
)
i Si (t ) K i s inrt
2 i
dt
(3-38)
powerpoint.vn

C V HN BC T DO
Phng trnh (3-38) c dng nh PTVP (1-30) khi b qua lc cn,
trong Ki vn c tnh theo (3-37) ng vai tr ca ( P0 ), nn
M
nghim tng qut ca n, khi dao ng n nh, c dng hon ton

nh (1-34); ngha l,
Si(t) = K i sin rt
Ki
Trong k hiu,
2
r
Ki = ( 1 )
i2
()
(3-39)
(3-40)
Li thay (3-39) vo (3-28), ta c phng trnh dao ng tng

qut ca h v hn BTD chu lc kch thch iu ha tp trung
Psinrt l:
Ki
y
z
y(z,t) = i
(3-41)
sin rt
K
i 1
i
Hin tng cng hng s xy ra khi tn s lc kch thch r trng
vi mt tn s dao ng ring i bt k
powerpoint.vn

C V HN BC T DO
Ch :
a, Trng hp tit din thanh thay i th, EJ v m, trong cc cng
thc trn phi c thay bng EJ(z) v m(z).
b, Trng hp lc ng bin i iu ha, c hai cch gii bi ton:
Cch th nht: S dng cng thc truy hi (3-36) kt hp vi (3-35)
t ra rt c hiu qu nh c cc bng tra sn cc hm nh hng.
Cch th hai: Phn tch ti trng theo cc dng dao ng ring
tnh. Lc ny s dng cng thc (3-28) nu ti trng l phn b, cn
ti trng tp trung ta dng cng thc (3-41).
powerpoint.vn

C V HN BC T DO
V D 3-1:
Cho dm n gin hai u khp di 2m, c EJ = 16 .107 kNcm2 =
hng s; trng lng bn thn q = 1kN/m. Dm chu lc ng
P(kN)sinrt t gia nhp nh trn hnh 3.5a. ( y m l m v o
chiu di- mt)
Yu cu: V biu bin chuyn v ng ,v m men ng. Khi tnh
ly gn ng: g = 10m/s2 ; 2 = 10 v r = 400 s-1.
powerpoint.vn

C V HN BC T DO
Bi gii: Bn tn s ring u tin cng vi bn dng dao ng tng
ng cho trong bng 3.1 phn ph lc. Li gii tng qut cho kt
qu:
i
i22
= 2
l
yi(z) = fi sin
EJ
m
(a)
i
z
l
(b)
Do lc ng bin i iu ha, nn c th gii bi ton bng hai cch

nh ch trn. Song y ch trnh by cch gii p dng cng
thc truy hi
(3-35) v (3-36).
powerpoint.vn

C V HN BC T DO
Cch gii bi ton da vo ti trng c phn tch ra cc dng
chnh, c gi c th t thc hin
1, Thit lp biu thc ca y(z) v M(z).
Xt on th nht AC
c (0 z
l
2=
y (x)
cm
kN
Md
m
1m)
(x)
Cc thng s ban u:
y0 = 0; y0 = =?; M0 = 0; Q0 = ?
q0 = 0
(c)
Thay (c) vo (3-35) d1, d3 c
0
Q
Bkz 3 0 Dkz
k
k EJ
Q
M 1 ( z ) kEJ 0 Dkz 0 Bkz
k
y1 ( z )
(d)
powerpoint.vn

C V HN BC T DO
Xt on th hai CB
c (1m = )
l
z
2
y (x)
(l = 2m)
cm
kN
p dng (3-36) f1, f3 c:

P
y2 ( z ) y1 ( z ) 3 D
k EJ k
M 2 ( z) M1 ( z)
P
B
k k
Md
m
(x)
l
z
2
l
z
2
(f)
powerpoint.vn

C V HN BC T DO
Thay (d) vo (f) v s dng cc iu kin bin:
Ti B (z = l) c:
yl = y2(z=l) = 0; v
Ml = M2(z=l) = 0;
(g)
ri gii h hai Phng trnh iu kin bin ny,v k hiu
kl
(3-42)
ta c,
P
0 = y0 2
k EJ
D B B D
2
2
B D
B B D D
Q0 = P
2
2
B D
(h)
2
2
powerpoint.vn

C V HN BC T DO
Li thay (h) vo (d) v (f) ta c biu thc bin chuyn v ng v
m men ng ca on mt v hai. Tuy nhin trng hp ang xt,
do tnh i xng, ta ch cn vit cho on mt l
P
y1(z) = 2
2k EJ
B kz C D kz A
2
2
A C 2
2
(i)
M1(z) =
P
2k
Bkz A D kz C
2
2
A C
2
2
powerpoint.vn

C V HN BC T DO
2, V biu bin chuyn v ng v m men ng. Thc cht l
v th ca cc hm trong (i).
2
mr
T cc s liu cho ta tnh c, k =
= 10 -8( 1 ), suy ra
cm 4
EJ
K = 10-2 cm -1, nn = kl = 2 v = 1.
2
Tra bng cc hm Kpo c: A/2 = A1 = 1,04169; B/2 = 1,00833;
C/2 = 0,50139;
D/2 = 0,16686;
Thay cc gi tr ny vo (i) ta c,
cm
y1(z) = 0,00374823P[0,50139B 0,01z 1,04169D 0,01z] kN
M1(z) = 59,97174P[1,04169B 0,01z 0,50139D 0,01z] (cm)
(j)
powerpoint.vn

C V HN BC T DO
v th ca (j), ta tnh gi tr ca hm ti mt s mt ct cng
nhiu cng chnh xc.
y ta tnh cho ba mt ct:
Ti z = 0 (khp A) c: y(z=0) = 0; v M(z=0) = 0;
Ti z =
l
= 50cm, ngha l kz = 0,01z = 0,5; tra bng c:
4
A = 1,00261; B = 0,50026; C = 0,12502; D = 0,02484;

thay vo (i) c:
l
l
) = 0,00086 P cm/kN;
M1(z= ) = 30, 625576 P cm;
4
4
l
Ti z = = 100cm, ngha l kz = 0,01z = 1; Tra bng c:
2
y1(z=
A = 1,04169; B = 1,00833; C = 0,50139; D = 0,16686;
Thay vo (i) c:
y1(z=
l
) = 0,001243476 P cm/kN;
2
l
2
M1 (z= ) = 57,974992 P cm;

powerpoint.vn

C V HN BC T DO
Da vo cc gi tr ca y v M tnh c trn, ta v c biu
bin chuyn v ng v m men ng nh trn hnh 3.5 b, v c.
tin so snh vng v ni lc m men ln nht pht sinh trong
dm hai trng hp:cht ti tnh v cht ti ng, trn hnh 3.5d, v
f, ta v thm ng trc vng, v biu m men do bin ca lc
ng , P , t tnh gy ra . T c gi c th t rt ra cc nhn xt
quan trng v cn thit.
powerpoint.vn

C V HN BC T DO
3.3.2 Dao ng cng bc khng cn ca dm mt nhp, tit
din khng i, chu tc ng ca ti trng v dch chuyn gi
ta bin i iu ho.
Sau y ta s tnh dao ng ca cc dm mt nhp chu tc dng ca
cc nguyn nhn khc nhau bin i theo qui lut iu ha. Tn s dao
ng t do ca dm mt nhp c nghin cu mc 3.2.4; y
ch yu trnh by cch v biu bin ni lc ng phc v bi
ton kim tra v thit k cc dm; ng thi chng cng l cc phn t
mu tnh dao ng ca cc khung v dm nhiu nhp, chu ti trng
ng iu ha, bng phng php chuyn v s c trnh by
chng 5
powerpoint.vn

C V HN BC T DO
1- Dm n gin hai u khp chu tc dng ca M(t) = M sinrt t
u tri dm
Bi ton ch mt on, nn ch cn dng phng trnh (3-35) l . Cc
thng s ban u gm:
y0 = 0; y0 = 0 = ?, M0 = M; Q0 = ? ; q0 = 0;
(a)
Thay (a) vo (3-35) c:
0
Q
M
Bkz 2 Ckz 3 0 Dkz
k
k EJ
k EJ
Q
M ( z ) kEJ 0 Dkz MAkz 0 Bkz
k
y( z )
(b)
(b)
Cc iu kin bin xc nh y0 , v Q0 l:
Ti z = l c:
yl = 0; v
Ml = 0;
(c)
Thay (c) vo (b) v (b) ri gii h hai Phng trnh ny ta c,

0 = y0 =
B C A D
B 2 D 2
k EJ
Q0 = kM
DC A D
B2 D 2
(3-43)
Li thay (3-43) vo (b) v(b) ta c phng trnh ca y(z) v M(z).

powerpoint.vn

C V HN BC T DO
2- Dm hai u ngm , ngm bn tri xoay gc (t) = sin rt.
Cc thng s ban u: Ti z = 0
y0 = 0; yo = 0 = ; M0 = ?; Q0 = ?
(a)
Cc iu kin bin cui dm,

Ti z = l c:
yl = 0; v yl = 0.
(b)
Thay (b) vo (3-35) ri gii

h hai phng trnh ny ta c:
EJ B C A D
M0 = l C 2 B D
2
EJ 2 B A D
Q0 = 2 2
l
C B D
(3-44)
Li thay (3-44) vo (3-35) ta s c cc hm bin chuyn v, gc

xoay, m men, lc ct ca bi ton.
Nu ngm bn phi xoay, lm tng t ta c:
M0 =
EJ
D
2
l
C B D
Q0
EJ
2C
= l2 C2 B D

powerpoint.vn

C V HN BC T DO
3. Dm ngm bn tri, khp bn phi; Ngm tri dch chuyn thng
ng
Cc thng s ban u:
Ti z = 0 c,
y0 = ; y0 = 0 = 0; M0 = ?; Q0 = ?
(a)
Cc iu kin bin cui dm

xc nh M0, v Q0 l:
Ti z = l c: yl = 0
Ml = 0;
(b)
Li thay (b) vo (3-35) ta s gii ra c:

EJ 3 A B C D
EJ 3 C 2 A 2
M0 = 2
Q0 = 3
l
B C A D
l
B C A D
(3-46)
Thay (3-46) vo (3-35) ta s vit c cc biu thc cn tm.

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NG LC HC CNG TRNH
Chng 4
CC PHNG PHP TNH GN NG
TRONG NG LC HC CNG TRNH
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powerpoint.vn
Chng 4: CC PHNG PHP TNH GN NG

Nhm th nht l cc phng php nng lng. Cc phng php
nng lng da vo nguyn l bo ton nng lng c hc c pht
biu nh sau: Ti mi thi im ca h dao ng. tng th nng v
ng nng ca h lun lun l mt hng s:
T + U = hng s
Trong :
(4-1)
T l ng nng ca h.
U l th nng ca h.
C th gii bi ton bng cch p dng trc tip phng trnh (4-1),
hoc da vo cc phng trnh Lagrange, hay nguyn l Hamilton.
Cc phng php nng lng s d cho kt qu gn ng v phi gi
thit trc dng dao ng ca h
powerpoint.vn

Nhm th hai l nhm cc phng php chuyn h v hn bc t do
v h c s bc t do hu hn gii. Cc phng php chnh thuc
nhm ny l: Phng php khi lng tp trung, phng php bin
dng tp trung v phng php phn t hu hn (PTHH).
Nhm th ba l nhm cc phng php gii gn ng phng trnh vi
phn dao ng ca h, m in hnh l phng php sai phn hu
hn, phng php ri rc ha ton t vi phn, hay phng php
Butnop-Galookin.
Phng php sai phn hu hn, phng php ri rc ha ton t vi
phn v phng php phn t hu hn cn c gi chung l phng
php s-v kt qu tnh ton l cc con s.
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4.1 CC PHNG PHP NNG LNG:
4.1.1 Phng php Rayleigh:
Phng php Rayleigh p dng trc tip nguyn l bo ton nng
lng (4-1) xc nh tn s dao ng ring ca h dao ng. Ta
nhn thy rng, vi gi thit dao ng t do l iu ho, th khi h dao
ng ti v tr cn bng ban u, th nng ca h bng khng, cn vn
tc t cc i; cn khi h v tr bin chuyn ng th vn tc
chuyn ng bng khng-cng tc l ng nng bng khng, cn th
nng t cc i. iu ny c ngha l:
Tmax U max
(4-2)
powerpoint.vn

A- Xt trng hp h c s bc t do hu hn (n bc t do):
Phng php Rayleigh p dng trc tip nguyn l bo ton nng
lng (4-1) xc nh tn s dao ng ring ca h dao ng. Ta
nhn thy rng, vi gi thit dao ng t do l iu ho, th khi h dao
ng ti v tr cn bng ban u, th nng ca h bng khng, cn vn
tc t cc i; cn khi h v tr bin chuyn ng th vn tc
chuyn ng bng khng-cng tc l ng nng bng khng, cn th
nng t cc i. iu ny c ngha l:
Tmax U max
(4-2)
powerpoint.vn

A- Xt trng hp h c s bc t do hu hn (n bc t do):
Nu k hiu a a a ... a T (xem 2-12)
k
1k
2k
nk
l vc t cha bin dao ng ca cc khi lng th 1, 2,...., n

tng ng vi tn s dao ng ring th k (dng dao ng ring th k)
th vi vt liu n hi tuyn tnh ta c:
Th nng cc i bng: U 1 a T K a
max
k
k
2
ng nng cc i bng: T 1 2 a T M a
max
(1)
(2)
(4-3)
Trong : l ma trn cng ca h, cn l ma trn khi lng.

Thay (4-3) vo (4-2) ta c tn s dao ng ring th k:
a K ak
k2 k T
ak M ak
T
(4-4)
R rng l nu bit dng dao ng ring th k, ak , ta s xc nh

c tn s ring tng ng.
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B- Trng hp khi lng phn b-h c v hn bc t do:
Vi gi thit dao ng t do l iu ho, th phng trnh dao ng
chnh thc th k c dng:
(4-5)
yk ( z , t ) yk ( z ) sin(k t )
Theo Sc bn vt liu, vi cu kin chu un khi b qua nh hng ca

lc ct v lc dc, th nng bin dng c tnh theo cng thc sau:
(4-6)
M i2 ( z )
1
U
dz
2 i li EJ i
Theo (4-5) dao ng t bin khi . sin( t ) 1

k
Mt khc, M ( z ) EJy '' ( z , t ) EJy '' ( z ) sin( t ) , nn khi dao ng t
k
bin th M k ( z ) EJyk'' ( z )
nn
U max
1
''
EJ
y
( z )
i
k
2 i li
(xt v tr s)
2
dz
(a)
(4-7)
powerpoint.vn

Ti v tr cn bng vn tc t cc i; m v ( z , t ) y ( z ) cos( t )
k
k
k
k
nn
Vkmax yk ( z )k
Lc ny ng nng cc i
(b)
1
2
Tmax k2 yk ( z ) m( z )dz (4-8)
2
i li
Trong : m(z) l cng khi lng phn b theo chiu di thanh.

Khi trn h, ngoi khi lng phn b m(z), cn c cc khi lng tp
trung Mj (j=1, 2,...., n), th tng ng nng ca cc khi lng tp trung
s l
Tmax
1
k2 M j yk ( z j )
2
j
(4-9)
y Mj l khi lng tp trung th j, cn yk(zj) l bin dao ng

ca khi lng th j tng ng vi tn s ring th k.
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Thay (4-7), (4-8), (4-9) vo (4-2) ta c:
k2
EJi yk'' ( z )
i
y ( z )
k
li
dz
(4-10)
li
m( z )dz M j yk ( z j )
Trong i l on th i c chiu di l li.

Cng thc (4-10) l li gii tng qut c th p dng xc nh tn s
dao ng ring th k cho dm, vm,.. thm ch c tm v...k c khi tit
din thay i. Thc t l dng dao ng ring th nht thng rt gn
vi dng bin dng gi tnh tng ng. Bi vy, ngi ta thng dng
cng thc (4-10) xc nh tn s c bn 1, lc ny ta ly ng
bin dng gi tnh tnh ton.
Vi cc tn s bc cao, do rt kh gi thit c mt dng dao
ng gn st vi thc t, nn t c tnh theo (4-10).
powerpoint.vn

V D 4-1:
Xc nh tn s dao ng ring th
nht ca dm conson c tit din
hng s v chiu di l .
Ta gii bi ton trong hai trng hp.
1) Ly dng ng n hi ca trc
dm do ti trng phn b u t
tnh gy ra lm dng dao ng ring
th nht.
4 z z 4
Theo hnh (4-1) ta c: y1 ( z ) A0 1 4
Khi :
3l
4
z
''
y1 ( z ) A0 4
l
3l
(a)
(b)
Trong : A0 l mt h s.
Thay (a); (b) vo (4-10) v ch l Mj=0, v k hiu m l cng khi

lng phn b u v A0 b trit tiu, ri tin hnh tch phn ta c:
powerpoint.vn

12
Suy ra:
EJ
m l
4 z 2
0 l 4 dz
l
4z z
0 1 3l 3l 4 dz
4
16
3 EJ 162 EJ
5 l
104 m
13 ml4
l
405
3,5301 EJ
l2
m
3,516 EJ
So snh vi li gii chnh xc: 1
l2
m
(c)
sai s 0,4%.
powerpoint.vn

2) Ly dng ng n hi ca trc dm do lc tp trung t tnh
ti u t do gy ra lm dng dao ng ring th nht
Theo hnh (4-2) ta c:
3z z 3
(d)
y1 ( z ) A0 2 3
l l
6 z
''
y
(
z
)
A
v
(f)
1
0
3
l
Li thay (d); (f) vo (4-10) ri tch phn ta c:
l
6 z
0 l 3 dz
hay
12
3 EJ 140 EJ
EJ
l
2
1
4
3 2
33
m l
m
11
ml
3z z
2
3 dz 35 l
l l
3,568 EJ
, Sai s 1, 48%
1 2
l
m
powerpoint.vn

4.1.2 Phng php Rayleigh-Ritz:
Theo Ritz hm biu din dng dao ng ring c dng:
n
y ( z ) C11 ( z ) C22 ( z ) ... Cnn ( z ) Cii ( z )
(4-11)
i 1
Trong :Ci l cc h s
i(z) l cc hm tho mn cc iu kin bin ca bi ton.
Nh ni, li gii ca phng php nng lng cho kt qu ln hn
gi tr thc. gim bt sai s, Ritz kin ngh lm cc tiu ho tn s
tnh theo
(4-10) bng cch chn cc h s C i trong (4-11) sao cho
t cc tiu, ngha l C 0
i
(4-12)
(i=1, 2,...., n)
powerpoint.vn

y l mt h phng trnh i s tuyn tnh cha n l v cc h s C i.
Gii bi ton tr ring ny, ta s xc nh c cc .
V d, xc nh tn s dao ng ring ca dm chu un, ta thay (411) vo (4-10), khi phng trnh (4-12) c dng:
l
''
EJ
y
( z) dz

Ci
Ci
m y( z ) dz
0
Thc hin php o hm ca mt thng,
ta c:
''
m
y
(
z
)
dz
EJ
y
( z )
Ci 0
2
Mt khc, t (4-10) ta c:
''
m
y
(
z
)
dz
EJ
y
( z )
0
2
dz EJ y ( z ) dz
m
y
(
z
)
dz 0
Ci 0
0
''
dz
(b)
(c)
powerpoint.vn

Thay (c) vo s hng th hai ca (b) ta c:
l
''
m
y
(
z
)
dz
EJ
y
( z )
Ci 0
2
Chia hai v ca (b) cho
Ci
(b)
m y( z ) dz ta c:
2
EJ y '' ( z )
2
dz m y ( z ) dz
m
y
(
z
)
dz 0
Ci 0
0
2
2m y( z)
dz 0
(4-13)
(i= 1, 2, ...., n)
H phng trnh (4-13) l dng chnh tc ca h phng trnh (4-12)

khi hm biu din dng dao ng ly theo (4-11).
Thc hin php vi phn, (4-13) cho ta mt h phng trnh tuyn tnh
thun nht vi n l C1, C2,..., Cn v . T iu kin tn ti dao ng,
hay ni cch khc, ma trn cc h s phi khng suy bin, ta thu
c phng trnh tn s l phng trnh bc n i vi 2. Gii
phng trnh ny ta s c n tn s dao ng ring.
powerpoint.vn

V D 4-2:
S dng phng php RayleighRitz xc nh cc tn s dao
ng ring ca dm conson di l,
b rng khng i bng n v,
cn chiu cao bin i theo quy
lut bc 1 (hnh 4-3)
Bi gii ( Li gii ca Timoshenko.1937
Xt mt ct ngang ti to z, c:
Trong :
F ( z)
2b
z
l
3
1 2bz
J ( z)
l trng lng ring ca vt liu dm.

12 l
F ( z ) 2b
g l gia tc trng trng.
m( z )
z
g
gl
powerpoint.vn

Vi h to chn nh trn hnh v, ti ngm (z=l) c gc xoay v
vng u bng khng, nn ta chn hm biu din dng dao ng nh
sau (cc hm i(z) u tho mn iu kin bin)
2
z
z n 1 z
z
z
y ( z ) C1 1 C2 1 ... Cn n 1 1
(d)
l
l
l
l
l
1) Nu ch ly mt hm trong (d), gi s s hng th nht- ta c li
gii Rayleigh v tnh c:
5,48 g
l2
Eg
3
2) Nu trong (d) ta ly hai s hng tr ln, ta s c nghim RayleighRitz, gi s ta ly hai s hng u:
z
z
z
y ( z ) C1 1 C2 1
l
l
l
(f)
powerpoint.vn

Thay y(z) v t (f) vo (4-13) ri tch phn ta c:
Ci
2 b3
24
2b l 2
2
2
C 2C2 C2 (C1 2C2 ) 6C2
3 1
5
Eg
3 l
C12 2C1C2 C22
0
105
280
30
Tin hnh o hm ta c:
Eg b 2 2
2 Eg b 2 2
(...)
C1
C2 0
4
4
C1
3
l
30
5
3
l
105
2
2
2
2
(...) 2 Eg b C 2 Eg b
1
C2 0
4
4
C
5
3
l
105
5
3
l
280
(g)
Do phi tn ti dao ng, ngha l C1, C2 khng ng thi bng khng,

ta c nh thc cc h s trong (g) phi bng khng, y chnh l
phng trnh tn s ca bi ton
Egb 2 2

3
l
30
2 Egb 2 2

4
105
5 3l
2 Egb 2 2

4
5
3
l
105
0
2
2
2 Egb
4
5
3
l
280
(h)
powerpoint.vn

(h) l phng trnh bc hai i vi 2. Gii phng trnh ny ta c
nghim nh nht:
5,319b Eg
1
l2
3
Li gii da vo hm Bessel (c coi l chnh xc) cho kt qu l:
5,315b
l2
Eg
3
So snh ta thy: i vi tn s c bn 1 khi dng mt hm (nghim

Rayleigh) sai s 3%; Khi dng hai hm ( nghim Rayleigh-Ritz) sai s
0,1%. Nh vy, i vi 1 ta ch cn dng mt hm l , ch khi cn
xc nh cc tn s bc cao th mi cn dng nhiu hm trong (4-11).
Ch :
Cng c th dng phng php ny gii bi ton dao ng cng
bc. c gi c th xem chi tit trong cc ti liu tham kho.
powerpoint.vn

4.2 PHNG PHP KHI LNG TP TRUNG:
Khi chuyn khi lng phn b v t ti mt s im, ta phi gii
quyt hai vn c bn:
1- Khi lng tp trung t u?
2- Tr s mi khi lng tp trung bng bao nhiu?
Qua cc tnh ton thc t ngi ta a ra mt s hng dn chung
nh sau:
1- V v tr t khi lng tp trung:
- Khi trn h, ngoi khi lng phn b cn c cc khi
lng tp trung, th nn chuyn khi lng v cc ni c cc khi
lng tp trung ny.
- Nn chuyn khi lng v cc ni c chuyn v ln.
- Nn t khi lng ti cc nt ca h hay ti cc tng sn
ca cc khung cao tng.
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2- V ln ca cc khi lng thay th:
Thng c 2 cch phn b khi lng-song tu thuc tng
bi ton m chn cch thch hp.
- Chia khi lng phn b thnh nhiu khong, ri tp trung
khi lng v trung tm ca tng khong. Xem hnh 4-4b, 4-5b, 4-6b.
- Chia khi lng phn b thnh nhiu khong, ri tp trung
khi lng trn mi khong ra hai u. Xem hnh 4-4c, 4-5c, 4-6a, b.
Cch phn th hai c dng nhiu hn, v n thng cho li gii
n gin hn
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Hnh 4-4
Hnh 4-5
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Trong nhiu trng hp, khi ch cn xc nh tn s c bn 1, th ta
c th thay cc khi lng phn b bng ch mt khi lng tp trung
tng ng (Mt). Trong trng hp ny, khi lng thay th tng
ng nn t ti ni c chuyn v ln nht, cn ln ca Mt c
th c xc nh trn c s gi thit cho rng: Hai h (h thc v
h thay th) tng ng v ng nng th cng tng ng v tn
s.
Tthc=Tthay th
(4-14)
Xt h c khi lng phn b m(z), trn c t thm cc khi

lng tp trung Mj ti cc to zj. Gi s phng trnh chuyn ng
ca h c biu din di dng tch bin:
y ( z , t ) y ( z ) S (t )
(a)
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Khi vn tc:
v( z, t )
y ( z , t ) y ( z ) S&(t )
t
(b)
Tng ng nng ca h cho s l:

Tthc
1
m( z ) y ( z ) S&(t )
i li 2
1
dz M j y ( z j ) S& (t )
2 j
(c)
Khi lng tng ng thay th gi s t ti im c to (z a),

th ng nng h thay th s l
Tthay th = 1Mt y ( za ) S&(t )
2
(d)
Thay (c); (d) vo (4-14) ta tnh c khi lng thay th tng ng:
m( z ) y ( z ) dz M j y( z j )
2
Mt
li
y ( za )
(4-15)
Thay Mt ny vo cng thc (1-15) tng ng vi h mt bc t do, ta

s xc nh c 1.
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V D 4-3:
Xc nh tn s c bn 1 ca dm n gin hai u khp, chiu di
l v khi lng phn b m = hng s. Hnh 4-7a
Bi gii:
a
)
y
m=hng
s
bi ton ny, dng dao ng ring th nht l dng i xng,

chuyn v ln nht gia dm, nn khi a khi lng ca h v
tp trung ti mt im th ta a v gia dm. Ta xt bi ton trong
hai trng hp.
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1) Thay th khi lng ca h thnh mt Mt tnh theo (4-15).
Trc ht ta gi thit dng dao ng ring th nht l dng ng
n hi ca trc dm do mt lc P t tnh gia dm gy ra. Dng
phng php ca sc bn tnh c phng trnh ny c dng: Hnh
4-7b
3l 2 z 4 z 3
y ( z ) A0
3
l
(a)
Trong A0 l mt h s. Lc ny chuyn v gia dm:
y ( za ) y z l
2 l
3l 4
2
A0
l3
A0
(b)
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3l z 4 z
3
l
0
A02
l
Mt
mA02
dz
m
24
16
2 9 z 2 2 z 4 z 6 4 dz 0, 486ml
l 0
l
l
(c)
thay Mt vo (1-15) ta c:
1
9,92 EJ
l2
m
Sai s 0,6%
2) Chia dm lm 2 on ri tp trung
khi lng v hai u ca mi on
ta c 3 khi lng tp trung. Hai
khi lng t hai u dm khng
dao ng-H ch cn mt khi lng
t gia dm dao ng (xem 4-7c).
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Mthay th= m
l
2
(d)
Thay (d) vo (1-15) ta c:
9, 798 EJ
l2
m
Sai s 0,7%
Dng cng thc (4-15) xc nh khi lng thay th cho kt qu

chnh xc hn. Nu chuyn h v hai 2, 3 hay nhiu bc t do hn,
th kt qu tt nhin cng s chnh xc hn
V d, cng bi ton ny, song khi ta a h v hai bc t do nh
trn hnh (4-4c), s tnh c (xem chng 2).
1
9,86 EJ
l2
m
Sai s 0,1%
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Ch :
1- Tng t phng php khi lng tp trung, phng php bin
dng tp trung cng cho php chuyn mt h v hn bc t do v h
c s bc t do hu hn. T tng ca phng php l tp trung bin
dng phn b trn ton h v mt s im no m ta chn trc.
2- Phng php sai phn hu hn, phng php ri rc ha ton t vi
phn, c bit l phng php PTHH ( cn gi chung l cc phng
php s) l nhng phng php gn ng c hiu qu gii bi ton
tnh lc hc v ng lc hc cng trnh. Phng php PTHH gn lin
vi my tnh in t (MTT), v n s ca phng php rt ln. Hu
ht cc phn mm tnh ton kt cu hin nay u c vit bng
phng php PTHH. Nhng phng php ny c trnh by chi tit
trong cc ti liu ring v cc phng php s trong tnh ton kt cu.
y ch gii thiu tm tt ni dung c bn ca phng php.

Nh bit trong tnh lc hc, phng trnh c bn ca phng php
PTHH m hnh chuyn v l:
Trong :
K F
(4-16)
Kl
ma trn cng ca h, c xy dng t cc ma trn cng
ca cc phn t hu hn c lp sn.
F l
vc t lc nt, bao gm cc lc nt c sn v cc lc tc dng
trn phn t chuyn v cc nt.
l vc t chuyn v nt l n ca phng php. Sau khi xc nh
c t (4-16), ta s xc nh c trng ng sut, bin dng,

chuyn v trong kt cu. Cn vi kt cu h thanh, ta s v c cc
biu ni lc.

i vi bi ton ng lc hc, phng trnh c bn ca phng php
PTHH m hnh chuyn v cng c dng nh (2-5). Tt nhin cch xc
nh tng i lng l hon ton khc.
M && C & K F
(4-17)
Trong :
K l ma trn cng ca h nh trong (4-16)
l vc t chuyn v ng ca cc nt
F l vc t ngoi lc nt ng.
& v && ln lt l vc t vn tc v gia tc chuyn v ng ca
cc nt.
C l ma trn cn
M l ma trn khi lng c tp trung ti cc nt v c
thnh lp t cc ma trn khi lng ca tng phn t hu hn
c lp sn nh i vi ma trn cng.

Cn phng trnh vi phn dao ng t do:
M && C & K 0
(4-18)
3- i vi h c s bc t do hu hn, thay cho vic gii phng trnh

tn s phc tp, S.A.Pestel xut mt cng thc gn ng xc
nh nh sau:
1
2
(4-19)
12
B2
B2
B1 1 2 1
B1
c gi l cng thc S.A. Pestel

n
trong , B1 M i ii
i 1
B2 M 2 M i M k ik2
i 1
2 2
i ii
i , k 1
(ik)
NG LC HC CNG TRNH
Chng 5
NG LC HC CA KT CU
H THANH PHNG
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Chng 5: NG LC HC CA KT CU H THANH PHNG
5.1 CCH TNH GN NG

C th ni phng php tp trung khi lng l phng php gn ng
thng dng tnh dao ng ca cc kt cu h thanh phng nh dm,
khung, dn, vm, h lin hp nh s n gin ca n. Tt nhin, vi
cc kt cu phc tp, s lng cc khi lng tp trung kh ln, th vic
tnh ton cng kh phc tp v tn nhiu thi gian do phi lp v gii
mt phng trnh tn s bc cao, cng nh phi lp v gii h phng
trnh xc nh bin cc lc qun tnh.
Trc y, khi cha c MTT, ngi ta thng tp trung khi lng
v 1, 2, hoc 3 v tr gii. Cn ngy nay, nh c MTT m s khi
lng tp trung c th tng ln nhiu, nh m chnh xc ca li
gii c tng ln.
i vi kt cu nh nhiu tng chu ti

trng ng theo phng ngang nh ti
trng gi bo, ng t vv... ngi ta
thng a v s thanh conson
(hnh 5-1) gii.
i vi kt cu dn hay h lin hp, khi lng ca cc thanh dn v

dm thng c tp trung ti cc nt dn v c bit ch ti cc
nt dn nm trn ng bin xe chy (hnh 5-2).
(hnh 5-2)
i vi vm, sau khi tp trung khi lng v mt s im, n gin
tnh ton, ta c th thay cc on thanh cong ni gia cc khi lng
thnh cc thanh thng m kt qu vn chp nhn c.
Sau khi thay khi lng phn b v tp trung ti mt s im, tc l

ta chuyn mt h c v hn bc t do v mt h c s bc t do
hu hn. Vic gii h ny c trnh by chng 2.
Phng php nng lng t c s dng tnh khung, nht l cc
khung nhiu tng nhiu nhp phc tp, do phng trnh biu din dng
dao ng l rt phc tp v thng phi vit trn nhiu on, ng
thi vic thc hin cc tch phn trong (4-10) cng tn rt nhiu thi
gian. Cn i vi dm v dn, ngi ta vn dng phng php ny
xc nh tn s ring 1, trong trng hp ny hm thng ly dng
gi tnh tng ng v thng cng khng phc tp lm.
Sau y ta xt vi v d minh ho cch p dng cc phng php gn
ng gii cc bi ton c th:
V D 5-1:
Cho dn c kch thc v chu tc dng ca cc ti trng ng iu
ho cng tn s nh trn hnh 5-3a. Bit EF = hng s; ,trong
r 0, 07
EF 1 v dn c ng xe chy di (m l vit tt ca mt).

(m )
M
Yu cu: Xc nh cc tn s dao ng ring ca dn v bin ni

lc ng trong cc thanh dn.
Bi gii:
Ta dng phng php khi lng tp trung gii bi ton.
1) Xc nh cc khi lng tp trung.
Theo ra, dn c ng xe chy di nn ta s tp trung khi lng
ca dn ch vo cc nt A, 1, 2, 3, B thuc bin di, nn bi ton ch
c ba khi lng thc hin dao ng. Chiu di cc thanh bin trn v
di l 6m; ca cc thanh xin l 5m (do dn cao 4m). Ta chuyn khi
lng thanh A-4 v mt na thanh A-1 vo nt A; ca thanh B-7 v ca
na thanh B-3 vo nt B. Nh vy khi lng phn dn cn li chuyn
v 3 nt 1, 2, 3 s c gi tr nh nhau (khi lng ti mi nt bng
tng khi lng ca hai thanh bin v hai thanh xin). K hiu khi
lng ny l M th (xem hnh 5-3b):
M1 M 2 M 3 M
gii phng trnh tn s (2-11) v phng trnh xc nh bin

lc qun tnh (2-24), ta phi xc nh cc v iP , l cc chuyn v
iK
n v, v chuyn v do cc bin lc ng t tnh gy ra ti cc
khi lng. Ta s xc nh cc chuyn v ny theo cng thc MaxwellMohr p dng cho dn tnh nh.
2) Xc nh iK v 1P
Do bi ton i xng, nn ta ch tnh bi ton ng vi cc dng dao
ng i xng. Cc biu ni lc N , N v N do cc lc Z 1; Z 1
1
2
P
1
2
v do cc bin lc ng P 20kN t tnh gy ra tnh c nh trn
0
hnh 5-3c, d, e.
Dng cng thc Maxwell-Mohr ta tnh c:
(
N
)(
N
)
52,
75
1
1
11
EF
( N )( N ) 105,5 m
2
2
22
EF
12 21 ( N1 )( N 2 ) 66, 25
m
EF
kNm
1P ( N1 )( N P0 ) 2380
EF
kNm
2 P ( N 2 )( N P0 ) 3435
EF
Ch :
Th nguyn ca l [ chiu di ], song theo (b), n c biu din
m
qua
EF
iK
khng cho ta chiu di, vy

N il khng ng v th nguyn. S d
nh vy, bi v ng ra, khi v
ta phi gi thit trc n v ca
bin lc qun tnh, n l [ lc ] ( trong bi ton ny, Nngoi

lc c
i
kNm v ca
o bng
iKkN, nn n cng s l kN). Khi n
do
tnh c s c biu din qua
EF
sliP kN, v
ging nh
, song
v mt trong hai biu ca php nhn biu l thuc trng thi N

gi
i
to doZ ilc
iKkhi v
1 khng th nguyn gy ra, cho nn tin dng,
ta ly
khng th nguyn, bi vy trong biu thc ca
thiu mt
n v lc ca Zi. Cng v l do khng c n v lc trong Zi, nn kt

qu cui cng s xut hin th nguyn ca Zi l [ lc ] (trong bi ton
ny l kN). Nh vy, cch lm nh th ny cng cho kt qu ng khi
3) Xc nh cc tn s dao ng ring:
ThayM M M v cc tnh c trn vo phng trnh tn s (2-11)
1
2
iK
Ta c:
11M 1 u
21M1
M 2
m
M m
52,
75
M
u
66,
25
12
2
EF
2 EF
0
m
M m
22 M 2
66,
25
M
105,5
u
EF
2 EF
2
l phng trnh bc 2 i vi u, gii (c) ta c:

m
u1 99,58M
EF
u2 5,92 M
m
EF
suy ra
1
EF 1
1
0,1002
m
u1
M
suy ra
1
EF 1
0, 4105
m
u2
M
(c)
4) Xc nh bin ni lc ng trong cc thanh dn:

Thay , vo phng trnh (2-24) ri gin c hai v cho m ta
iK
iP
EF
c h phng trnh xc nh bin lc qun tnh nh sau:
151,33Z1 66.25Z 2 2380kN 0
66, 25Z1 302, 66 Z 2 3435kN 0

Trong ta tnh c cc v trong (2-24) nh sau:
1
1 m
m
11* 11
52,
75
151,33

M 1r 2
0,07 2
EF
EF
1
2 m
m
*
22 22
105,5
302,
66
2
M 2 2
0,
07
EF
EF
r
2
(d)
Gii (d) ta c:
Z1 22,90kN
Z 2 16, 40kN
(e)
Bin ni lc ng trong cc thanh dn c th tnh theo hai cch:

a) Tnh trc tip: t cc bin lc qun tnh theo (e) v bin cc
lc ng t tnh ti cc khi lng ri tnh nh bi ton tnh( hnh 5-3f).
b) p dng nguyn l cng tc dng.
N1Z1 N 2 Z 2 N P0
Kt qu nh trn hnh (5-3g)
V D 5-2:
Xc nh tn s dao ng ring v biu bin mmen ng ca
khung cho trn hnh 5-4a. Bit khung c EJ=hng s, l= 6mt = hng s,
tng khi lng mi thanh l ml=M. Khung chu tc dng ca cc lc
kch thch iu ho cng tn s:
P (t ) (60kN ) s inrt
kN
q (t ) 30 s inrt
m
Trong : r 0,319
EJ 3
m
M
Khi tnh b qua lc cn.

(m l vit tt ca mt)
Bi gii:
Chia khung thnh 5 on v tp trung khi lng ca mi thanh v hai
u thanh, ta c 11 khi lng tp trung (hnh 5-4b). Gi thit cc nt
khung khng c chuyn v thng, nn h ch cn 5 khi lng t ti
im gia cc thanh thc hin cc dao ng ngang (hnh 5-4c). y l
mt h i xng chu tc dng ca cc lc ng i xng, nn ta ch cn
xt cc dao ng c dng i xng. Nh vy h ch c ba bc t do.
1) Xc nh cc v :
iK
iP
Cng nh v d 5-1, trc ht ta phi xc nh cc iK v . y l h
iP
siu tnh, nn trng thi gi to khi tnh chuyn v theo cng thc
Maxwell-Mohr c th to ra trn h tnh nh bt k suy ra t h siu tnh
cho.
Ngha l, nu b qua nh hng ca lc ct v lc dc, ta c:
iP M P M i0
(a)
Trong Mp l biu mmen do ti trng cho gy ra trong h siu
tnh ang xt. M i0 l biu mmen trng thi gi to c to ra trn
h tnh nh.
p dng (a) tnh
iK ta c:
iK M i M K0 hoc M i0 M K
Cc biu mmen n v do khng th nguyn (xem ch v d 51) gy ra, cn MP do bin cc lc ng (P0 v q0) t tnh gy ra trong
h siu tnh cho, dng phng php chuyn v v c nh trn cc
hnh (5-4 d, e, f, g).
p dng (a) v (b) sau khi nhn cc biu ta c:
m3
11 1,88
EJ
m3
22 5, 63
EJ
m3
33 3, 00
EJ
m3
12 21 1,13
EJ
m3
13 31 0, 75
EJ
m3
23 32 1,13
EJ
kNm3
kNm3
kNm3
1P 123, 7
; 2 P 202,5
; 3 P 22,5
.
EJ
EJ
EJ
2) Xc nh cc tn s dao ng ring:
p dng phng trnh tn s (2-11) ta c
11M 1 u
21M 1
31M 1
M 2
12
M2
u
22
2
M 2
32
M 3
13 2
M 3
0
23 2
M3
33 2 u
Thay cc tnh trn v cc khi lng tp trung

M1 M 2 M 3
M
2
v k hiu l M*
(d)
vo (c) ri khai trin nh thc (c) ta c mt phng trnh bc 3 i

vi u. Gii phng trnh ny ta c (b qua tnh ton chi tit)
m3
u1 3,546 M
EJ
suy ra 1
1
EJ
3
0,531
m
u1
M*
m3
u2 1,502 M
EJ
suy ra 2
1
EJ
3
0,816
m
u2
M*
m3
u3 1,139 M
EJ
1
EJ
3
0,937
m
suy ra 3
u3
M*
3) V biu bin m men ng:

Thay v tnh trn vo phng trnh (2-24), ri gin c hai v
3
cho m ta c h phng trnh xc nh bin cc lc qun
EJ
tnh l:
7,94 Z1 1,13Z 2 0, 75Z 3 123, 7 kN 0
1,13Z1 14, 01Z 2 1,13Z 3 202,5kN 0
(f)
0, 75Z 1,13Z 16, 64 Z 22,5kN 0
1
2
3
Trong ta tnh c cc * trong phng trnh (2-24) nh sau:

ii
m3
1
1 m3
11* 11
1,88
7,94
2
M *r 2
0,319 EJ
EJ
m3
1
2 m3
*
22 22
5, 63
14, 01
2
EJ
EJ
M * 2
0,319
m3
1
2 m3
33* 33
3,
00
16,
64
2
EJ
M * 2
0,319 EJ
Gii h phng trnh (f) ta c:

Z1 13,9kN ; Z 2 13, 27 kN ; Z 3 1, 08kN
Biu bin ni lc mmen ng v c theo nguyn l cng tc
dng:
M= M 1Z1 M 2 Z 2 M 3 Z 3 M ( P ,q )
0
Kt qu cho trn hnh (5-4l).
hnh (5-4).
hnh (5-4).
hnh (5-4).
5.2 PHNG PHP TNH CHNH XC

tnh chnh xc ng lc hc ca mt h kt cu thc (c v hn bc
t do), ta p dng l thuyt tnh ton c trnh by chng 3. Tu
thuc vo cch vn dng m ta c hai phng php tnh c bn:
Phng php lc v phng php chuyn v. Phng php lc dng
tnh ng lc hc cc kt cu siu tnh bt k. y l mt phng
php tnh tng qut song rt phc tp vi khi lng tnh ton ln nn
rt t c dng trong thc t. Phng php chuyn v, nh bit
trong tnh lc hc kt cu, l phng php dng tnh chuyn v cho
kt cu bt k (h siu ng)-c th tnh nh hoc siu tnh-min l c
cc phn t mu lin quan. y l phng php tnh n gin, c
coi l chnh xc, v c p dng nhiu c trong tnh lc hc v ng
lc hc kt cu h thanh thng. Trong mc ny chng ta ch nghin cu
phng php ny.
5.2 PHNG PHP TNH CHNH XC

Cc phn t mu (ng lc hc dm mt nhp) phc v cho phng
php chuyn v tnh ng lc hc h thanh thng, phng c th xy
dng c da vo l thuyt c trnh by chng 3 -kt qu
cho bng ph lc.
Vic p dng phng php chuyn v gii bi ton ng lc hc cng
tng t nh trong bi ton tnh. Ngha l, n s ca phng php l
cc chuyn v gc xoay v chuyn v thng c lp ca cc nt, m ta k
hiu l Z i (t ) .
S n s ca bi ton:
n = ng + nt
Xt kt cu trn hnh 5-5a:
H c: ng = 2; nt = 1;
(5-1)
nn n = 3
H c bn nh trn hnh 5-5b. Khi ti trng ng l iu ho , th

chuyn v gc xoay v chuyn v thng ca cc nt ca kt cu khi dao
ng n nh cng bin i iu ho vi tn s l tn s ca lc kch
thch iu ho:
Z i (t ) Z i s inrt
(a)
Phn lc ng sinh ra trong cc lin kt c thm vo trong h c bn

(HCB) cng bin i iu ho cng tn s r.
RiK (t ) RiK s inrt
(b)
Lp lun hon ton nh trong bi ton tnh, iu kin HCB lm vic

nh h thc l cc phn lc trong cc lin kt mi thm vo trong HCB
phi bng khng. Xt lin kt thm vo th i:
Ri (t ) RiZ1 (t ) RiZ2 (t ) ... RiZ n (t ) RiP (t ) 0

Ri (t ) ri1Z1 (t ) ri 2 Z 2 (t ) ... rin Z n (t ) RiP (t ) 0
(c)
y rik l bin phn lc ng trong lin kt thm vo th i do lin

kt thm vo th k dch chuyn cng bc mt lng 1.s inrt gy ra
trong h c bn.
Thay (a), (b) vo (c) ri gin c hai v cho sinrt (do phi tn ti dao
ng nn sinrt0), ta c h phng trnh chnh tc ca phng php
chuyn v tnh ng lc hc cc kt cu h thanh thng, c dng
hon ton nh bi ton tnh. Khi bi ton c n n:
ri1Z1 ri 2 Z 2 ... rin Z n RiP 0
(i 1, 2,..., n)
(5-2)
Trong : Z1, Z2,..., Zn l bin chuyn v ng ca cc nt (chuyn v

gc, chuyn v thng). RiP (i=1, 2,..., n) l bin phn lc ng ti lin
kt thm vo th i do ngoi lc ng iu ho gy ra trn HCB.
Cc riK v RiP c th tra trc tip bng ph lc, tuy nhin trong thc t,
ta hay tra bng cc biu M i , M P0 ri dng iu kin cn bng
xc nh riK v RiP s thun tin hn. Trong M i l biu mmen
do Z i 1s inrt gy ra, cn M P0 l do ngoi lc ng P0 s inrt
h c bn (cc biu ny u tra bng).
gy ra trn
5.2.1 Xc nh tn s dao ng t do
H phng trnh biu din dao ng t do theo phng php chuyn v
c c t (5-2):
ri1Z1 ri 2 Z 2 ... Rin Z n 0
(i 1, 2,..., n)
(5-3)
y l h phng trnh tuyn tnh thun nht. tn ti dao ng,

ngha l cc Zi khng ng thi bng khng, buc nh thc cc h s
phi bng khng-y l phng trnh tn s ca bi ton:
Det
r11
r21
r12
r22
... r1n
... r2 n
... ... ... ...

rn1 rn 2 ... rnn
(5-4)
5.2.2
Biu bin ni lc ng
Gii h phng trnh (5-2) s xc nh c Z1, Z2,..., Zn. Biu bin

m men ng v c theo nguyn l cng tc dng:
M M 1 Z1 M 2 Z 2 ... M n Z n M p0
(5-5)
Biu Q c suy ra t M; cn N c suy ra t Q nh vn

thng lm trong bi ton tnh.
V D 5-3:
Xc nh tn s dao ng ring v v biu bin ni lc m men
ng ca khung chu tc dng ca ti trng ng iu ho
nh trn hnh (5-6a). Bit khung c:
lng trn mt mt di40l:kN
q
3 m
r 10
EJ 4 10 kNm
4
v
1
s
P (t )
P
s inrt
2
= hng s; trng
.
Bi gii:
Ta dng phng php chuyn v gii bi ton
1) Xc nh cc tn s dao ng ring
H c ng =1; nt = 0 nn n = ng + nt = 1
nn phng trnh tn s l:
r11 = 0
(a)
H c bn v biu tra bng c nh trn hnh (5-6b)
Xt cn bng nt 1 trn biu M 1 ta c:
4 EJ
EJ
r11
1 (1a )
8 (1b )
l
l
2
(b)
Trong , theo (3-42) ta c:

K hiu:
1a Kl1a Kl ; 1b Kl1b K
2 2
(c)
Thay (c), (b) vo (a) c phng trnh tn s:
c
os

sin sh
2 2
2ch
ch sin sh cos 2
2
1-ch cos
ch
2
0

c
os

2
2
Sau khi bin i ta c:
2ch sin 2sh cos -sh +sin =0
(a)
(a) l phng trnh siu vit, s c v s nghim; bng cch gii gn

ng ta xc nh c hai nghim b nht (ng vi hai tn s b nht)
nh nhau:
1 K1l 3,56
suy ra
2 K 2l 7, 43
suy ra
2
Theo (3-9): i K i
3,56
l
7, 43
K2
l
K1
EJ
(m l cng khi lng phn b u) (f)
m
q 40kN 2 2 4
Thay l=6 mt; khi lng m
s m kNs 2 m 2 v EJ vo (f)
g 3 10
3
ta c:
3,56
1
4 104 3
1
60,
7
;
2
4s
s
7, 43
4 10 4 3
1
265,5 ;
2
4s
s
Ta c th tnh tip cc tn s bc cao hn
3 , 4
2) V biu bin ni lc m men ng:

T cc s liu ca bi ton, ta tnh c thng s k theo (3-34) l:
mr
k
EJ
4
40
102
1
3 10
0,
24(
m
)
4
4 10
1a kl 0, 24m 1 6m 1, 44
l
2b k 0, 24m 1 3m 0, 72
2
EJ
ri thay vo (b) ta tnh c: r11 5,588652
l
nn
Ch :
tnh r11 ta tra bng ph lc c:
1 (1a ) 1 (1, 44) 0,989515

Cn 8 (1b ) 8 (0, 72) khng c trong bng tra, nn ta phi tra trc
tip theo cng thc:
A2 C2
8 ( )
A B C D
Tra bng A, B, C, D () (vi =0,72) ri thay vo v ta tnh c:
8 (0, 72) 0,81573

cn
P C AK0 A CK0
R1P
0, 75730 Pm
2 K A B C D
Thay r11 v R1P tnh trn vo phng trnh chnh tc ca bi ton:
r11Z1 R1P 0
hay
EJ
5,588652
Z1 0, 7573P 0
l
Pl
Z1 0,12865
m
EJ
(m l vit tt ca mt)
(g)
v biu bin m men ng (lun lun l ng cong) ta phi

vit biu thc biu din s bin i ca bin m men ng cho
tng thanh da vo cng thc thng s ban u (3-35).
* Xt thanh a-1: Chn gc to u a, cc thng s ban u gm:

'
y(0) 0; y(0)
0
2 EJ
2 EJ
Pl
2 (1, 44) Z1
1, 0155 0,12865
m 0, 26129 Pm
l
l
EJ
6 EJ
EJ
Pl
Q(0) 2 2 (1, 44) Z1
1, 02241 0,12865
0,13153 P
l
l
EJ
M (0)
Thay cc thng s ban u ny vo (3-35) c:
M ( z ) 0, 26129 AKZ 0,54805BKZ Pm
* Xt thanh 1-b: Chn gc to ti nt 1, c cc thng s ban u:

'
y(0) 0; y(0)
Z1 0,12865
M (0) M 1Z1 M P0
Q(0) Q1Z1 Q
0
P
Tra bng
Pl
m
EJ
EJ
8 (0, 72) Z1 0, 7573P 0,50929 P
l
2

EJ
l 2
(0, 72) Z1
2 9
B A
K0
D CK0
A B C D
9 (0, 72) v cc hm A(0,72); B(0,72) vv... ri thay vo ta
tnh c:
Q(0) 0,51335 P
Li thay cc thng s va tm c vo (3-35) ta c phng trnh

M(z) ca thanh 1-b nh sau:
0,12865 Pl
1
M ( z ) KEJ
DKZ 0,50929 PAKZ 0,51335 PBKZ
EJ
K
M ( z ) 0,18526 DKZ 0,50929 AKZ 2,1389 BKZ Pm
V th hm (h) v (i) ta c biu bin m men ng nh
trn hnh (5-6c).
(i)
V D 5-4:
Xc nh tn s dao ng ring ca dm lin tc cho trn hnh (5-7a).
Bit dm c l, EJ, khi lng m = hng s.
Bi gii:
Dm cho c dng i xng, nn s c dng dao ng ring i
xng v dng dao ng ring phn i xng.
Phng trnh dao ng t do-theo phng php chuyn v-c dng
nh sau:
r11Z1 0
y l phng trnh tch, nn c th xy ra 2 trng hp.

1) Khi Z1=0, ngha l nt 1 khng xoay, y l dng dao ng i
xng. Lc ny dng dao ng ca dm tng ng vi mt na h
nh trn hnh (5-7b). y l dm 1 nhp mt u ngm mt u khp,
cc tn s ,4 v cc dng dao ng tng ng cho nh trong
bng 3.1.
2) Khi r11=0, dng dao ng c dng phn i xng nh trn hnh (57c).
Vi dm cho, tra bng c:
r11
3EJ
3EJ
5 ( )
5 ( ) 0
l
l
suy ra
4sh sin
5 ( ) 0
6ch sin sh cos
Do mu s khc khng nn sin=0

Suy ra:
(i 1, 2,..., )
(i)
Thay tnh theo (j) vo (3-9) ta c cng thc tng qut xc

nh cc tn s dao ng ring tng ng vi dao ng phn i
xng:
i 2 2
i 2
l
(i=1, 2,..., )
EJ
m
(k)
BI TP CHNG 5
1) Tnh tn s dao ng ring 1 ca cc kt cu cho trn hnh bng
hai phng php: Tnh chnh xc v tnh gn ng theo cng thc
ca S.A.Pestel. V biu bin m men ng.
BI TP CHNG 5
2) Xc nh tn s dao ng ring b nht v v biu bin m
men ng ca kt cu trn hnh 2 bng hai phng php: gn ng
v chnh xc.
Bit: EJ, m (l khi lng phn b trn 1 mt di), bng hng s,
P=20kN, r 0, 25 EJ (met ) 3
ml
Cho:
EJ, m = hng s
l 4m
r 0, 25
EJ
(met ) 3
ml
BI TP CHNG 5
3) V biu bin mmen ng, kt cu cho trn hnh 3. Bit: EJ,
m= hng s; Kab=0,6 m-1; Kac=0,3 m-1; Kad=0,5 m-1.

Dong Luc Hoc Cong Trinh 1566

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NG LC HC CNG TRNH

1.1 MT S KHI NIM C BN V L THUYT DAO NG

Dao ng ca vt thun ty do lc l xo sinh

Tu thuc vo quan h gia lc l xo v bin dng ca l xo l tuyn

S cc dao ng ton phn ca khi lng thc hin trong

1.1.2 Dao ng iu ho v vc t quay

Sau y ta xt mt dng dao ng quan trng c gi l dao

Tm li, trong dao ng iu ha ta c cc quan h sau,

Sau ny trong tnh ton thc t, ngi ta hay dng hn f.

Kho st ba dao ng iu ha cng bin A v chu k T

Cch biu din dao ng iu ha di dng vc t quay nh trn

Nh vy, hp ca hai dao ng iu ha cng tn s l mt dao

Lc cn do nhiu nguyn nhn gy ra nh : ma st gia cc mt tip

Lc cn ma st c xc nh theo nh lut Culong

2 - Lc cn nht tuyn tnh Newton t l bc nht vi vn tc

l vn tc chuyn ng, = (t)

Do y ta ch xt nh hng ca lc ng P(t), ng thi

Xt h thi im t no ang chuyn ng hng xung

&(t ) Cy&(t ) Ky (t ) P(t )

&(t ) Cy&(t ) Ky (t ) P(t )

Phng trnh (1-12) l phng trnh vi phn (PTVP) dao ng

1.3 DAO NG T DO-TN S DAO NG T DO

y l trng hp l tng ha, v trong thc t lc cn lun tn

y (t ) A1cos t+A 2 sin t

Cc hng s tch phn A1v A2 c xc nh t cc iu kin u:

Thay (1-16) vo (a) vi ch v(t ) y&(t ) A1 sin t A2 cos t ta c:

Thay (b) vo (a) ta c phng trnh dao ng t do khng c lc

iu ny c ngha l, dao ng t do khng cn ca khi

Nhn vo (1-15) ta thy ch ph thuc yt(M), cng tc l ph

Nhn vo (1-15) ta thy ch ph thuc yt(M), cng tc l ph

Ch : Khi khi lng c lin kt bng nhiu l xo mc

Yu cu: Xc nh tn s vng v chu

Chuyn v tnh ti ni t khi lng do trng lng ca khi lng gy ra:

Tn s dao ng ring ca h , theo (1-15) l:

Chu k dao ng ring tnh theo (1-6) l:

Thay (a) v (b) vo (1-15) ta c

Hnh 1.9b, 1.9c

nn nghim tng qut ca (1-21):

Chuyn ng ca khi lng, theo (1-23),

Khi > ta gi l lc cn ln; cn khi = ta gi l lc cn trung bnh

Khi nghim ca phng trnh c trng (xem (a ) s l:

V phng trnh chuyn ng (1-23) tr thnh:

y (t ) e t A1ei1t A2e i2t

Cc hng s B1, B2 xc nh c t cc iu kin u (1-16)

Thay (d) vo (1-23), v li p dng khi nim vc t quay hp hai

Dng dao ng trong trng hp ny c th hin trn hnh 1.11

Hnh 1.11 : Dao ng t do khi lc cn b

T (1-26), hay t hnh 1-11 ta thy, dao ng t do ca h mt bc t

song bin dao ng gim dn theo lut hm s m m : Ae

nghin cu tt dn ca dao ng, ta xt t s gia hai bin

Nh vy, t s gia hai bin lin k nhau l mt hng s; Cn

T1 = (0,016 0,08)2 0,1 0,15

T1 = (0,005 0,022)2 0,03 0,15

T1 = (0,01 0,15 ); trung bnh 0,28

T1 = (0,17 0,39 ); trung bnh 0,28

7, Vi khung b tng ct thp: T1 = (0,08 0,16 ); trung bnh 0,12

= ln(A n/A n+1) = ln0,5 = 0,693.

Tr li trng hp lc cn trung bnh (cn gii hn) 2 = 2. Lc ny,

Ngha l bin dao ng sau mt chu k gim i 529 ln, hay ni

&(t ) Cy&(t ) Ky (t ) P0 s inrt

Nghim y0(t) tnh theo (1-26), cn nghim ring y1(t) c th xc nh

Nghim y0(t) tnh theo (1-26), cn nghim ring y1(t) c th xc nh

y&1 (t ) rA0 cos(rt- )

vo phng trnh (1-30) ta c,